Kinematics of Planar Multifingered Robot ,Hand with Displacement of Contact Points*

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概要

• 論文の詳細を見る

• In this paper, the kinematics of the planar multifingered robot hand is investigated for grasping and manipulation of some objects. The kinematics equations and the conditions for grasping and manipulation with rolling contact points are derived. The contact finger forces are affected by small contact point displacement, however, grasping and manipulation conditions remain unchanged. Finally, the effects of contact point displacement are illustrated concretely by numerical examples of point and rolling contact.

• 一般社団法人日本機械学会の論文
• 1992-09-15

著者

• FUNAHASHI Yasuyuki

  Department of Mechanical Engineering, Nagoya Institute of Technology

• Funahashi Y

  Nagoya Inst. Technol. Nagoya Jpn

• MIMURA Nobuharu

  Toyota Central R. & D. Labs., Inc.

• Funahashi Yasuyuki

  Department Of Mechanical Engineering Nagoya Institute Of Technology

• Mimura N

  Niigata Univ. Niigata Jpn

• Funahashi Yasuyuki

  Department Of Mechanical Engineering

関連論文

• Stability Analysis of Frictionless Grasps with a Two-Dimensional Spring Model
• Algorithm for Computing Fingertip Positions of a Multifingered Hand in Three Dimensions
• Multirate Sampled Data Control of Nonholonomic Systems in Time-State Control Form Based on Periodic Switching
• Kinematics of Planar Multifingered Robot ,Hand with Displacement of Contact Points*
• Parameterization of All Multivariable Deadbeat Tracking Controllers
• Static Stability Analysis of Spatial Grasps Including Contact Surface Geometry
• Ripple-Free Deadbeat Tracking Problem
• Stabilizing Effects of Internal Stiffness for Slight Sliding at Contact Points
• Contact points Identification in Enveloping Grasp
• A Straightforward Synthesis of Parametrization of State Deadbeat Controllers

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