Optimization of robot hand power grasps
Optimization of robot hand power grasps
复制标题
机器人手握力优化
DOI：
10.1109/robot.1998.680954
复制
发表时间：
1998
期刊：
影响因子：
--
通讯作者：
T. Yoshikawa
中科院分区：
文献类型：
--
作者：
Yong Yu;K. Takeuchi;T. Yoshikawa
当多指手进行动力抓握时，通过手的形状、手指与物体之间的接触位置以及手的关节扭矩的组合，可以提供无限多种可能的动力抓握形式。为了规划权力掌握，有必要通过一些事先评估来知道这些形式中哪种形式最合适。本文提出了一种自动获得最佳功率掌握的技术。通过分析手指与物体摩擦接触产生的力空间的自由度，描述了力量抓取的条件和力学特性。此外，还推导出了用于掌握动力的可行关节扭矩的区域。然后，定义最佳功率掌握形式并建立其确定程序。
When an object is grasped by a multifingered hand with power grasp, there are an infinite number of possible power grasp forms, provided by combinations of the hand shape, the contact positions between fingers and the object, and the joint torques of the hand. To plan a power grasp, it is necessary to know, by some prior evaluation which form is most suitable among these forms. This paper proposes a technique for automatically obtaining optimal power grasp. By analyzing the degree of freedom of the force space caused by frictional contacts between fingers and object, the conditions and mechanical properties of power grasp are described. Also, the region of feasible joint torques for power grasp is derived. Then, an optimal power grasp form is defined and its determination procedure is established.