Computer-aided analysis of three-fingered robot grippers
Date of Original Version
A three-fingered robot gripper appears to be a good candidate for vertical assembly applications. Here we present a force analysis of such a gripper, and a computer-assisted technique to determine stable grasp configurations for given workpiece geometries. The results can also be used to generate finger force commands for the gripper controller.
Palm, W. J., G. L. Field, and M. Reuber. "Computer-aided analysis of three-fingered robot grippers." (1988): 479-485. https://digitalcommons.uri.edu/mcise_facpubs/626