An Efficient Algorithm for Computing n-Finger Force-Closure Grasps for Planar Objects

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This paper addresses the problem of computing n-finger equilibrium and force-closure grasps of two-dimensional (2D) objects.  Assuming hard-contact and using Coulomb friction model, we develop new necessary and sufficient conditions for n-finger to accomplish equilibrium and force-closure grasps. The proposed conditions are based on the central axes of grasp wrench (i.e., force and torque exerted by the fingers); we demonstrate that a 2D grasp is said to achieve force-closure if and only if, the grasp wrench can generate any arbitrary central axis. So, we present a simple and efficient algorithm for computing n-finger force-closure grasps for planar objects. The proposed geometrical force-closure test needs only some algebraic calculations, what facilitates its real time implementation. We have implemented the proposed algorithm and its efficiency is confirmed by examples.
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Planar Objects; Force-Closure; Grasp Wrench; Central Axis

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