Quasi-Static Analysis of Orientational Alignment of a 2-D Part toward a 2nd-order Form Closure Grasp with Circular Fingers

This paper addresses orientational alignment of a two-dimensional part toward a 2nd-order form closure grasp with circular fingers. The alignment is formulated and analyzed as quasi-static pushing operation, especially around the moment of completing the desired grasp, and the feasibility of the alignment is discussed regarding the magnitude of the required finger force, not through pure geometrical analysis as in the conventional studies. Moreover, the feasibility of alignment of example parts in the real environment is experimentally verified. The comparison with alignment toward a 1st-order form closure grasp is also conducted both in the analysis and the experiment.