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Three important problems in the study of grasping and manipulation by multi ngered robotic hands are: (a) Given a grasp characterized by a set of contact points and the associated contact models, determine if the grasp has force closure; (b) If the grasp does not have force closure, determine if the ngers are able to apply a speci ed resultant wrench on the(More)
As we all know, singularity is commonly encountered in parallel mechanisms. It is shown that the behavior of singularity of parallel mechanisms could be more complicated than that of serial ones. However, it is not very clear whether singularity will bring problems to kinematics, dynamics or other characteristics and what result will be caused when parallel(More)
This article study the dynamics of parallel manipulators. We first have a brief review and discussion on different dynamics formulations in literature(Newton-Euler, Direct Lagrangian, and Lagrange-D’Alembert formulation on the reduced system). Then we show the equivalence of these methods. Based on the concepts from differential manifold, we prove that away(More)
Dextrous manipulation is a problem of paramount importance in the study of multi ngered robotic hands. In this paper, we derive in detail the kinematic relations between the nger joint velocities and object/contact velocity. The problem of dextrous manipulation is precisely formulated and cast in a form suitable for integrating relevant theory of(More)