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Research ArticleOpen accessEvery word in the titleEffect of Object Size and Location on Contact Forces and Grasping Stability for an Underactuated Robotic ManipulatorSomer Matti Nacy, Ahmed Abdulsalam NayifThis paper comprises a study of the grasping stability for an underactuated robotic manipulator under the condition of varying the position of different sizes cylindrical grasped objects. Grasping forces were calculated both theoretically and Via a CAD model for a 3-DOF underactuated robotic manipulator. The experimental part comprises the fabrication of the manipulator and performing the required tests on this … …Journal of Mechatronics and Robotics, Vol. 2, Issue 1 · 24 May 2018 · 7,038 accessesView PDF Cite

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