Title

Computer-aided analysis of three-fingered robot grippers

Document Type

Conference Proceeding

Date of Original Version

12-1-1988

Abstract

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.

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