General formulation for force distribution in power grasp
General formulation for force distribution in power grasp
复制标题
掌握力量时力量分布的一般公式
DOI：
10.1109/robot.1994.351378
复制
发表时间：
1994
期刊：
影响因子：
--
通讯作者：
D. Orin
中科院分区：
文献类型：
--
作者：
Khalid Mirza;D. Orin
给出了三维抓力器力分布方程的一般公式。它允许在手指表面和手掌上进行任意数量的接触。该公式不仅包括在接触处施加的主动力和力矩，还包括由摩擦和几何约束（如楔入效应）产生的被动力。提出了一种适用于动力抓取情况的抓取矩阵，并提出了一种定义手部雅可比矩阵的新方法。对接触条件进行建模，同时考虑力的约束方向和无约束方向。为了评价抓力器的稳定性，对抓力器进行了稳定性分析。由于力抓的固有稳定性，主要目标不是确定最佳接触位置，而是确定最佳力分配的关节扭矩。定义了稳定区域，并将其作为研究和比较权力掌握的不同稳定性方面的度量。以DIGITS抓取系统为模型，给出了动力抓取器的稳定性分析结果
A general formulation of the force distribution equations for three-dimensional power grasp is presented. It allows for any number of contacts on the finger surfaces and the palm. The formulation not only includes the active forces and moments applied at the contacts, but also the passive forces resulting from frictional and geometric constraints, such as wedging effects. A grasp matrix is developed for the power grasp case and a new approach is taken to define the hand Jacobian matrix. Contact conditions are modeled to consider both constrained and unconstrained directions for the forces. A stability analysis for power grasp is performed in order to evaluate its stability properties. Due to the inherently stable nature of power grasps, the main objective is not the determination of optimum contact locations, but is the determination of joint torques for optimum force distribution. The stability region is defined and used as a measure to study and compare the different stability aspects of power grasps. Results of stability analysis for power grasps, using the DIGITS Grasping System as a model, are also provided.<<ETX>>