Finger design automation for industrial robot grippers: A review <s> Grasp <s> This paper presents fast and simple algorithms for directly constructing force-closure grasps based on the shape of the grasped object. The synthesis of force-closure grasps finds in dependent regions of contact for the fingertips, such that the motion of the grasped object is totally constrained. A force- closure grasp implies equilibrium grasps exist. In the reverse direction, we show that most nonmarginal equilibrium grasps are force-closure grasps. <s> BIB001 </s> Finger design automation for industrial robot grippers: A review <s> Grasp <s> The form-closure and force-closure properties of robotic grasp ing are investigated. Loosely speaking, these properties are related to the capability of the robot to inhibit motions of the workpiece in spite of externally applied forces. In this article, form-closure is considered as a purely geometric property of a set of unilateral (contact) constraints, such as those applied on a workpiece by a mechanical fixture, while force-closure is related to the capability of the particular robotic device being considered to apply forces through contacts. The concepts of partial form- and force-closure properties are introduced and discussed, and an algorithm is proposed to obtain a synthetic geometric description of partial form-closure constraints. Al though the literature abounds with form-closure tests, proposed algorithms for testing force-closure are either approximate or computationally expensive. This article proves the equiva lence of force-closure analysis with the study of the equilibria of an ordinary... <s> BIB002
Grasp in the context of robotics means holding the workpiece to accomplish the defined task. A task failure may cause expensive consequences, such as damaging the robot or the gripper. Thus, securing a robust grasp is essential in finger design. As shown in Fig. 5 , the two most important classes of grasps are formclosure and force-closure BIB001 . Reuleaux (1876) first used these terms in his machine design studies and later  applied them to robotic grasping. The definition of form-closure and force-closure has been repeated in almost every work in robotic grasp and in most cases different understanding has been extracted from them. As a consequence, these terms are also defined in this work to avoid misunderstanding and confusion. In this review we follow the definitions presented by BIB001 and BIB002 .