平面多指机器人运动学，手与接触点位移*

JSME international journal. Series 3, Vibration, control engineering, engineering for industry Pub Date : 1992-09-15 DOI:10.1299/JSMEC1988.35.462

N. Mimura, Y. Funahashi

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引用次数: 1

摘要

本文研究了平面多指机械手抓取和操纵物体的运动学问题。推导了带滚动接触点抓取和操纵的运动学方程和条件。接触手指受力受接触点位移的影响，但握持和操作条件不变。最后，通过点接触和滚动接触的数值算例，具体说明了接触点位移的影响。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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

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.

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JSME international journal. Series 3, Vibration, control engineering, engineering for industry

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