View Full Version : grasping: measuring contact reactions

Graham Robinson
03-10-1996, 09:35 PM
Dear collegues,
I am part of the Amadeus robotic manipulator project at Heriot-Watt
University, Edinburgh. The project is developing a dextrous three fingered
gripper, which is based upon a flexible continuum structure rather than the
more conventional kinematic chain.
At present one of the undergraduate students is doing a project on
identifying when an 'optimum' grasp has been achieved by three fingers. An
obvious answer could be that when force closure has been achieved the resultant
reaction of the target object will be a minimum.
Now the question: Has anyone had any experience with measuring finger
reaction forces or object reaction forces by either fastening the object to a
force plate table or instrumenting the object itself?
We would like to measure the reaction independently of the
instrumentation in the robots finger tips.

Graham Robinson,
Research Associate,
Department of Mechanical & Chemical Engineering,
Heriot-Watt University
Edinburgh, Scotland.

email: mecgcr@bonaly.hw.ac.uk
phone: +44 (0)131 449 5111 ext 4737
fax: +44 (0)131 451 3129