Please use this identifier to cite or link to this item: https://doi.org/10.1115/1.3159049
Title: Efficient procedures for form-closure grasp planning and fixture layout design
Authors: Zheng, Y. 
Chew, C.M. 
Keywords: Contact wrench
Discrete domain
Fixture layout design
Form-closure
Grasp planning
Issue Date: Aug-2009
Source: Zheng, Y., Chew, C.M. (2009-08). Efficient procedures for form-closure grasp planning and fixture layout design. Journal of Manufacturing Science and Engineering, Transactions of the ASME 131 (4) : 0410101-04101011. ScholarBank@NUS Repository. https://doi.org/10.1115/1.3159049
Abstract: This paper presents an algorithm for optimal grasp planning and fixture synthesis. The object surface is depicted by a number of discrete points, which are used as the candidate contact points. This algorithm consists of two procedures. The first procedure selects a minimal subset of contacts from the candidates so as to construct a form-closure grasp or fixture, which is to determine a minimal subset of contact wrenches such that their convex hull forms a simplex containing the origin of the wrench space as an interior point. The second procedure adjusts the contact positions or alters the selected contact wrenches to maximize the minimum distance from the origin to the facets of the simplex, which enhances the capability of the grasp or fixture to immobilize and balance the object. As this algorithm does not employ any general optimization techniques and utilizes recursive formulas for most computations, it runs very fast. Its effectiveness and efficiency are demonstrated with illustrative examples. Copyright © 2009 by ASME.
Source Title: Journal of Manufacturing Science and Engineering, Transactions of the ASME
URI: http://scholarbank.nus.edu.sg/handle/10635/60129
ISSN: 10871357
DOI: 10.1115/1.3159049
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