The work described in this paper addresses the problem of determination of the appropriate distribution of forces between the fingers of a multifingered gripper grasping an object. The finger-object interactions are modeled as point contacts. The system is statically indeterminate and an optimal solution for the this problem is desired for force control. A fast and efficient method for computing the grasping forces is presented. Some simple grasps are used to evaluate the proposed algorithms. © 1991 ACADEMIC PRESS, INC.
Waldron, K & Hunt, KH 1991, 'Series-parallel Dualities In Actively Coordinated Mechanisms', International Journal Of Robotics Research, vol. 10, no. 5, pp. 473-480.
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A deep symmetry between serial chain manipulators and fully parallel systems such as the Stewart platform is demonstrated. This symmetry is shown to be a result of the well-known duality of motion screw axes and wrenches. The appearance of the inverse