Constructing force-closure grasps
International Journal of Robotics Research
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Abstract: The purpose of this research is to demonstrate the importance of clamping sequences in fixturing processes. We analyze the stability of fixturing prismatic workpieces during different stages of clamping. Sequences of clamping described in this research assure the stability of the workpiece during clamping processes and relax the stringent requirement on the positioning accuracy of placing the clamps.