Grasp stability analysis of two objects with any friction property in two dimensions

Abstract

This paper analyses the grasp stability of two objects with any friction property in two dimensions. In the grasp of two objects, there exist multiple contact points which include one contact point between two objects and plural contact points between objects and fingers. In the previous work, all these contact points are assumed to be either only with friction or only without friction. This paper discusses a more practical grasp, in which there exist both friction contact and frictionless contact. In this case, both rolling motions and sliding motions occur simultaneously due to both friction and frictionless contact in the grasp system. The grasp stability is evaluated by the potential energy stored in the grasp system. Using numerical examples, the effect of friction is demonstrated. This evaluation method is applicable to fixture position planning.