Mobility of Bodies in Contact — Part II : How Forces are Generated by Curvature Effects
Mobility of Bodies in Contact — Part II : How Forces are Generated by Curvature Effects
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接触物体的移动性 - 第二部分：曲率效应如何产生力
DOI：
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发表时间：
1998
期刊：
影响因子：
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通讯作者：
J. Burdick
中科院分区：
文献类型：
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作者：
E. Rimon;J. Burdick
本文考虑了如何产生力的遵守和表面曲率的影响，在系统中，一个对象B是运动学固定到二阶手指机构A1;Ak。介绍了一类基于位形空间的弹性变形模型。使用这些弹性变形模型，它表明，任何对象是运动学固定到第一或第二阶也是动态局部渐近稳定的扰动。此外，它示出，对于预加载的把握运动不动性意味着把握的刚度矩阵是正定的。稳定性的结果提供了物理理由，使用二阶效应的目的，在实际应用中的固定。模拟说明的概念。
This paper considers how forces are produced by compliance and surface curvature effects in systems where an object B is kinematically immobilized to second-order by finger bodies A1; ;Ak. A class of configuration-space based elastic deformation models is introduced. Using these elastic deformation models, it is shown that any object which is kinematically immobilized to first or second-order is also dynamically locally asymptotically stable with respect to perturbations. Moreover, it is shown that for preloaded grasps kinematic immobility implies that the stiffness matrix of the grasp is positive definite. The stability result provides physical justification for using second-order effects for purposes of immobilization in practical applications. Simulations illustrate the concepts.