AbstractThis article presents an analysis of the mechanics for multifingered grasps of planar and solid objects. We present a method that is intuitive and computationally efficient. We combine the search for finger grasp positions with finger (manipulation and squeezing) force calculations into a single method. Physically, the squeezing and frictional effects between the fingers and the grasped objects are fully visualized through our approach. Mathematically, we reduced the complexity of finger force calculations when comparing our scheme with previously available schemes. Examples are used to illustrate the effectiveness and efficiency of our scheme. Based upon the analysis of grasp mechanics, an algorithm for quantatively choosing the grasp points is proposed to ensure stable grasps.
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