This manuscript investigates the relationship between the finger contact locations and the quality of a grasp. A formulation that enables one to select m finger contact locations that result in the highest quality grasp, for a given object geometry and known load and friction conditions, is presented. The formulation enables one to perform grasping synthesis and address gripper design issues. Furthermore, the unresolved questions of how many fingers should a gripper have, and what is the most appropriate grasping configuration for a particular task can be addressed by using the mathematical tools presented in this paper.
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Salunkhe et al. (1995) studied this question.
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