Abstract
This paper presents a kinetostatic framework to analyze the grasping and in-hand object manipulation abilities of two-finger underactuated hands. The framework includes a procedure to compute the Grasp Matrix and the Hand Jacobian for objects and fingertips of arbitrary shape considering rolling contacts without slipping. The usefulness of the proposed approach is illustrated in a case study of a pair of underactuated fingers driven by a tendon-pulley differential transmission mechanism and capable of performing in-hand object manipulation. The manipulability region for different object and fingertip shapes is computed and the results are discussed.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
