摘要
本文研究了灵巧手操作物体的运动学问题,在分析手指与物体接触条件的基础上,建立了手指与物体之间单点接触作纯滚动和作可控制滑动的运动学方程,给出了3R,4R 和5R 手指的运动约束条件,并对5-4-5型灵巧手进行了速度仿真和图形仿真.
This paper discusses the kinematics of dextrous robot hands manipulating an object with rolling and con-trolled sliding on one point contact with finger.The contact constraints of fingers and object are analyzed andthe relationships on position.velocity and acceleration between finger-joint motion and object motion and ob-ject motion are formulated.The motion constraints of 3R,4R and 5R fingers are presented.The theory hasbeen validated by velocity simulation and graphical simulations for a 5-4-5 hand.
出处
《机器人》
EI
CSCD
北大核心
1993年第6期35-39,共5页
Robot
关键词
灵巧手
灵巧操作
运动学
dextrous robot hand
dextrous manipulation kinematics
