Fundamentals of Robotic Grasping and Fixturing (Second Edition)

This book is uniquely designed for a thorough understanding of the fundamentals of the robotic grasping and fixturing (RGF) from the multifingered robot hand grasp, humanoid robot hand and basic fixture design principle, and evaluating and planning of robotic grasping/ fixturing. It also focuses on the modeling and applications of the RGF.Three new chapters are added in this edition to cover the relevant basic theories of grasping feature analysis and the new principles of robotic hand design that reproduce the natural motion laws of human hand.Compared with existing publications, this volume concentrates more on abstract formulation, i.e. mathematical modeling of robotic grasping and fixturing. Thus, it will be a good reference text for academic researchers, manufacturing and industrial engineers and a textbook for engineering graduate students.