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Keywords: form-closure
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Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Manuf. Sci. Eng. August 2009, 131(4): 041010.
Published Online: July 14, 2009
... subset of contacts from the candidates so as to construct a form-closure grasp or fixture, which is to determine a minimal subset of contact wrenches such that their convex hull forms a simplex containing the origin of the wrench space as an interior point. The second procedure adjusts the contact...
