多指ハンドのリンク内接触による操り : 第1報, 力学的特性

概要

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We propose a Whole Finger Manipulation (WFM) to improve robustness of manipulation by multifingered robot hand. The WFM is characterized by (1) multiple contact points between an object and surfaces of the inner links of multifingered robot hand, (2) a manipulation by utilizing a sliding at each contact point. This paper presents a dynamics of the WFM. The kinematics and dynamics of the multifingered robot hand and the multiple contacted object by the inner links are explored. The condition which is that the WFM is a model determinancy is shown using Kuhn-Tucker conditions. The conditions of an arbitrary manipulation for the WFM are derived using the duality theorem of linear programming problem. The dynamics of the WFM is demonstrated by computer simulations graphically.
一般社団法人日本機械学会の論文
1998-06-25