Design of the 100G capturing robot based on dynamic preshaping
Design of the 100G capturing robot based on dynamic preshaping
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DOI：
10.1177/0278364905057058
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发表时间：
2005-09-01
影响因子：
9.2
通讯作者：
Ishikawa, M
中科院分区：
文献类型：
--
作者：
Higashimori, M;Kaneko, M;Ishikawa, M
在本文中，我们讨论了100 G捕获机器人的设计从动态预成形的角度来看，所有的手指链接同时与目标对象接触。在简要解释了100 G捕获机器人的概述后，我们用数学公式表示了动态预成形问题，在那里我们讨论了如何确定机械参数，如滑轮位置，滑轮半径，手指连杆的质量和弹簧常数。我们展示了一对夫妇的实验，其中机器人参数确定的基础上的动态预成形问题。
In this paper we discuss the design of the 100G capturing robot from the point of view of dynamic pre-shaping where all finger links make contact with the target object simultaneously. After briefly explaining the overview of the 100G capturing robot, we mathematically formulate the dynamic pre-shaping problem where we discuss how to determine the mechanical parameters, such as pulley positions, pulley radius, mass of finger link, and spring constant. We show a couple of experiments where the robot parameter is determined based on the dynamic pre-shaping problem.