Аннотация:We consider the problem of brittle cylinder griping by the five manipulator fingers. Each finger contacts the cylinder in a single supporting point with Amontons — Coulomb friction or for two footholds
spinning friction. Using numerical simulations and analytically, possible locations of the contact points on the cylinder, for which there is a kinetostatics problem solution when the cylinder is moved by five fingers, are received. There is an analogy of the equilibrium of a five-legged robot on
a cylinder for the problems of transfer by a manipulator with a five-finger grip of a cylinder.