抄録
This paper analyzes grasp stability of two objects in three dimensions. For efficiency of tasks, multiple objects are grasped and manipulated by a robot hand. In order to design stable grasp, grasp stability of multiple objects is quantitatively evaluated. In case of two grasped objects in three dimensions, the number of parameters of object displacement is twelve. However, the displacement of the objects is constrained by each other, because the contact between the objects has to be maintained. Independent parameters of the object displacement are provided and then finger displacement is derived. The grasp stability is evaluated from the viewpoint of the potential energy method.
