Kinematics of Planar Multifingered Robot Hand with Displacement of Contact Points.

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  • 接触点移動を考慮した二次元多自由度ハンドの力学解析
  • セッショクテン イドウ オ コウリョシタ 2ジゲン タジユウド ハンド ノ リ

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In this paper, the kinematics of the planar multifingered robot hand is investigated for the cases of grasping and of manipulating some object. The kinematics equations and the conditions for the grasp and the manipulation with rolling contact points are derived. It is shown that, by the small contact point displacement, the contact finger forces are affected but the grasping conditions and manipulating ones are the same. Finally, the effects of the contact point displacement are shown concretely by numerical examples of the point and rolling contact.

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