Constructing force-closure grasps
International Journal of Robotics Research
Automated modular fixture planning based on linkage mechanism theory
Robotics and Computer-Integrated Manufacturing
On computing robust N-finger force-closure grasps of 3D objects
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A new strategy combining empirical and analytical approaches for grasping unknown 3D objects
Robotics and Autonomous Systems
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Abstract: Building on results in modular fixturing of 2D parts, this paper describes a new approach to fixturing 3D parts for assembly or inspection using a particularly simple set of modular elements. The approach uses seven modular struts mounted on a regular lattice of sockets embedded in a rectangular frame. Each strut extends normal to a contact surface on the part so that only compressive forces are required to hold the part in form closure: no bending moments are exerted on the struts and the fixture does not rely on contact friction. We give an algorithm for synthesizing such fixtures. Given as input a polygonal part and desired 3D pose, the algorithm enumerates all fixtures that will hold the part in form closure and rank them based on a quality metric. We also describe a fast test for form closure in 3D.