Constructing Stable Grasps
Constructing Stable Grasps
复制标题
构建稳定的抓地力
DOI：
10.1177/027836498900800102
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发表时间：
1989
期刊：
影响因子：
--
通讯作者：
V.
中科院分区：
文献类型：
--
作者：
V.
本文展示了如何通过在接触点处构造虚拟弹簧来使所有力闭合抓握稳定，使得所抓握的物体具有关于其稳定平衡的所需刚度矩阵。本文开发了一个简单的几何关系之间的把握和虚拟弹簧在接触的空间配置的刚度。抓握的硬度还取决于接触点是否在物体的直或弯曲边缘或表面上无摩擦地粘附或滑动。
This paper shows how all force-closure grasps can be made stable by constructing virtual springs at the contacts, such that the grasped object has a desired stiffness matrix about its stable equilibrium. The paper develops a simple geometric relation between the stiffness of the grasp and the spatial configuration of the virtual springs at the contacts. The stiff ness of the grasp also depends on whether the points of con tact stick or slide without friction on straight or curved edges or faces of the object.
DOI：
10.1115/1.3139652
发表时间：
1981-01-01
影响因子：
1.7
作者：
RAIBERT, MH;CRAIG, JJ
通讯作者：
CRAIG, JJ