摘要
采用球面指端,借助于物体等距曲面,研究了三指9关节手抓取处于完全约束或非完全约束状态下的物体时指端与物体的接触位置及抓取特性。讨论了获得所需抓取位置时手指关节的运动要求。结合实例给出了上述问题的处理方法.
With the help of equidistant surface of an object which is constrained completely or imcompletely, this paper deals with the contact positions on the spheric fingertips and the object and corresponding grasping characteristics when the object is grasped by a robot hand with three fingers and nine joints. Proper finger motions corresponding to the desired grasp configuration are determined. An example is given to illustrate the method of solving the above problems.
出处
《东南大学学报（自然科学版）》
EI
CAS
CSCD
1992年第1期16-22,共7页
Journal of Southeast University：Natural Science Edition
基金
国家自然科学基金
关键词
机器人
三指手
夹持
接触位置
robot, three-fingered hand, grasp, contact positions
