Analysis of Integrated Grasp Stiffness Matrix With Manipulator Parameters

This paper discusses the integration of grasp with manipulator parameters. The grasp mechanism is considered to be at the end of a serial manipulator. The operation of the grasp and manipulator are independent to each other but the paper describes how their movability can be integrated to achieve the desirable movement of a grasped object. The induction of movement of a grasped object mounted at an end-effector when subjected to an externally applied force system is presented here. The force is considered to be applied at the object and the effect incurs an infinitesimal displacement at the end-effector. The motions of the object and the end-effector have been analysed and associated using the infinitesimal loading. This generates an integrated grasp stiffness matrix associated with manipulator parameters based on fine displacement of an object. The paper presents a novel approach to analyse the grasp stiffness matrix integrated with manipulator parameters. It has shown how infinitesimal and gross movement to the grasped object can be combined which has applications in manufacturing and working environments.