Stable Prehension of Objects by the Robot Hand with Elastic Fingers
Stable Prehension of Objects by the Robot Hand with Elastic Fingers
复制标题
弹性手指机械手稳定抓取物体
DOI：
10.9746/sicetr1965.13.370
复制
发表时间：
1977
期刊：
影响因子：
--
通讯作者：
H. Asada
中科院分区：
文献类型：
--
作者：
H. Hanafusa;H. Asada
具有弹性手指并能根据工件形状在适当位置抓取各种工件的通用机械手问题。我们提出了一种由新设计的万能手、ITV摄像机和微型计算机组成的自适应抓取系统。通用机械手有三个弹性手指，由脉冲电机通过螺旋弹簧驱动。讨论了上述机器人系统的自适应抓取过程。工件被ITV摄像机捕获，并将外围形状数据发送到微型计算机。计算机根据抓握系统的势函数理论来确定手指在稳定抓握时的排列，我们曾经把势函数理论作为稳定性的判据。提出了一种有效而简单的计算算法，以满足机器人在线使用的要求。工业应用。实验验证了所开发系统的有效性。
problem of universal robot hand which has elastic fingers and can grip various workpieces at the proper position suitable for their shapes. We propose an adaptive prehension system which consists of a newly designed universal hand, an ITV camera and a mini-computer. The universal robot hand has three elastic fingers which are driven by pulse motors through coil springs. We discuss the adaptive prehension process by the above robot system. The workpieces are caught by the ITV camera and the data of the peripheral shapes are sent to the minicomputer. The computer determines the finger arrangement at the stable prehension based on the potential function theory of prehension system, which we've ever introduced as an criterion of stability. An effective and simple computation algorithm is proposed to meet an on-line use of the robot in. the industrial application. The experiment verified the usefulness of the developed system.