The synthesis of 3-D form-closure grasps

This paper presents a new formulation of computing three-dimensional (3-D) frictional form-closure grasps of n robotic fingers. As 3-D form-closure gr asps involve 6-D wrench space, we first propose a recursive reduction techn ique to transform the complicated problem in the 6-D space into a simpler 3 -D one. Next, we rewrite the sufficient and necessary condition for form-cl osure grasps into its equivalent form of two sets of linear inequalities. T hen, according to the linear inequality theory, the problem is transformed to searching for a set of points which ensure the inconsistency of each of the two linear inequality systems. To search for such points, we proposed t wo methods: The first one is based on testing whether the convex region for med by each linear inequality system is empty, while the second one relies on the potential held method. We have implemented the algorithm and confirm ed their efficiency for the synthesis of 3-D form-closure grasps.