Abstract
This paper analyzes grasp stability for a robot hand which has a vacuum cup at each fingertip. Combination of a grasp mechanism and an adhesion system allows the robot hand to grasp an object robustly. In order to evaluate the robustness of the grasp, we propose a contact model that considers adhesion forces at the contact point. We call this model as "point contact with friction and adhesion". This contact model can be applied to existing analysis methods. We conduct an experiment to ascertain the validity of the proposed model. Resistible external forces are measured, and then theoretical values of the resistible external force are compared.
