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The Optimization of Grasping Ability for Three-Fingered Flexible Fixture

By means of analyzing the structure kinematic of the three-fingered flexible fixture, the optimization method of the grasping ability of the flexible fixture was proposed. The best configuration was attained on the basis of expressing the contact force as a general solution. And then, the grasping force was optimized by converting it into the optimization of grasping torque. Not only was the optimization of the grasping ability realized, but also the relative carrying capacity of the fixture was improved. The feasibility of the method was verified by calculating the example. This method provides theory basises for the further research on the intelligence control of this sort of flexible fixture.