Examination of the minimum grasping force of a two-finger hand using multiple surface contact models and its actual verification

Abstract

A surface contact model was constructed to calculate the optimum grasping position and force. A total of four surface contact models have been studied so far. In this study, a boundary non-uniform distribution model and a total non-uniform distribution model are added, and the minimum gripping force is examined based on a total of six models. The theoretical values calculated based on the models are compared with the measured values using the robot hand. As a result, although linearity was confirmed for both the theoretical and measured values, it was found that a difference existed between the theoretical and measured values.