Classification of grasps by robot hands

Grasping robotic hands is classified into three categories based on the obj ect connectivity. We decompose the space of contact forces into four subspa ces and develop a method to determine the dimensions of the subspaces with respect to the connectivity of the grasped object. The relationships we obt ain reveal the kinematic and static characteristics of three categories of grasps. It indicates how contact forces can be decomposed corresponding to each type of grasp. The technique also provides a guideline for determining the distribution of contact forces on grasped objects. We analyze how powe r grasps are Identified from the object connectivity and used to synthesize hand configurations for grasping and manipulation tasks. A physical interp retation of the subspaces and the determination of their dimensions are ill ustrated by examples.