Kinematics of Planar Multifingered Robot, Hand with Displacement of Contact Points*

In this paper, the kinematics of the planar multifingered robot hand is investigated for grasping and manipulation of some objects. The kinematics equations and the conditions for grasping and manipulation with rolling contact points are derived. The contact finger forces are affected by small contact point displacement, however, grasping and manipulation conditions remain unchanged. Finally, the effects of contact point displacement are illustrated concretely by numerical examples of point and rolling contact.