Brittle Cylinder Transfering by a Manipulator with Three Fingers

Abstract

We consider the problem of brittle cylinder grasping by the manipulator fingers. Each finger contacts the cylinder in a single supporting point. Using numerical simulations and analytically, possible locations of the contact points on the cylinder, for which there is a kinetostatics problem solution when the cylinder is moved by three fingers, are received. There is an analogy of the equilibrium of a three-legged robot on a cylinder for the problem of transfer by a manipulator with a three-finger grasp of a cylinder.