Quantitative Analysis of Inner Force Distribution and Load Capacity of Grasps and Fixtures

[+] Author and Article Information
Youlun Xiong

School of Mechanical Engineering, Huazhong University of Science and Technology, Wuhan 430074, China

Han Ding

School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai, 200030, China

Michael Yu Wang

Department of Automation & Computer-Aided Engineering, The Chinese University of Hong Kong, Shatin, NT, Hong Kong

J. Manuf. Sci. Eng 124(2), 444-455 (Apr 29, 2002) (12 pages) doi:10.1115/1.1459089 History: Received April 01, 2000; Revised August 01, 2001; Online April 29, 2002
Copyright © 2002 by ASME
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Optimal grasp configurations on a sphere
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Relative form closure and C[G]
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Optimal grasp configurations on a cylinder
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Elastic grasp modeling (G,K)
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Restraint cone R[G] and freedom cone R*[G] of a 2-D object restrained by 3 point contacts
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Dual relationship and its links of elastic grasp modeling (G,K)
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Tolerable Limit of Differential Motion (TLDM) in 2-D twist space
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Allowable Load Polyhedral (ALP) for G1 and G.2
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The simulation of decision variables



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