多指机械手的刚度分析

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI:10.1109/IROS.1993.583240

Hyoukryeol Choi, W. Chung, Y. Youm

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引用次数: 5

摘要

基于广义虚拟刚度(GVS)模型，对抓具的刚度进行了分析。考虑到由于运动学和机械设计的原因，手指的法向刚度和侧向刚度通常不解耦，将GVS表示为耦合虚拟弹簧。作者将GVS与包括关节空间附加刚度在内的有效指尖刚度联系起来。基于抓握刚度公式，重点对抓握稳定性进行了仿真。

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Stiffness analysis of multi-fingered robot hands

The stiffness of a grasp is analyzed on the basis of the generalized virtual stiffness (GVS) model. Considering that the normal and lateral stiffness of the finger usually are not decoupled due to kinematics and mechanical design, GVS is formulated as coupled virtual springs. The authors relate GVS to the effective fingertip stiffness including the additional stiffness at the joint space. Based on the grasp stiffness formulation, simulations were carried out, focusing on the grasp stability.

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Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

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