RoManSy 6 pp 139-147 | Cite as

Modelling and Simulation of Mechanical Process in Hyperstatical Gripping with n-Contact Points

  • S. Zeghloul
  • J.-P Lallemand
  • D. Murguet


In the context of off-line programming of a robot equipped with a nonspecialized gripper, it is interesting to be able to evaluate the object-gripper contact forces in different states of work, such as high speed displacement, assembly operations, order to assure the stability of the grasp.

It is also interesting to be able to evaluate the possible movement of an object in a gripper finger under the action of a grasping force. The movement can be harmful to realization of the task, especially assembly.

The work presented here develops methods used to control the influence of gripping in the overall robotic process. The paper consists of three parts. we first present software used to calculate the contact forces in iscstatic or hyperstatical configuration of a multi-finger gripper, secondly software for the simulation of movement of n-link robots, and third, software for displaying forces and deformations using animation and construction programs.


Contact Force Prismatic Joint Construction Program Polyhedric Shape Graphical Picture 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Hermes, Paris 1987

Authors and Affiliations

  • S. Zeghloul
    • 1
  • J.-P Lallemand
    • 1
  • D. Murguet
    • 1
  1. 1.Université de PoitiersLaboratoire de Mécanique des SolidesPoitiersFrance

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