Study on casting manipulation (midair control of gripper by impulsive force)
Study on casting manipulation (midair control of gripper by impulsive force)
复制标题
铸造操纵研究（气爪脉冲力空中控制）
DOI：
10.1109/iros.1999.813019
复制
发表时间：
1999
期刊：
影响因子：
--
通讯作者：
K. Komoriya
中科院分区：
文献类型：
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作者：
Hitoshi Arisumi;K. Komoriya
为了扩大机械手的工作空间，我们一直在研制一种铸造机械手，它在连杆机构中加入了一根柔性绳。在投掷操作过程中，在通过摆动产生足够的运动后，在适当的时间释放弦，通过将夹持器抛向目标。本文讨论了夹爪抛出后的半空控制问题。首先，考虑了影响手爪运动轨迹的因素，指出了投掷手爪后对手爪轨迹进行修改的必要性。然后，我们提出了通过限制弦的运动来利用空气中通过弦的抓取器的脉冲力。通过实验对冲击力的产生进行了研究，通过将数值模拟结果与实验结果进行比较，验证了该方法的有效性。
We have been developing a casting manipulator which includes a flexible string in the link mechanism to enlarge the work space of the manipulator. During casting manipulation, a gripper is thrown to its target by releasing the string at a suitable time after generating enough motion by swinging. In this paper we deal with the midair control of the gripper after throwing it. First, we consider the factors which disturb the trajectory of the gripper, and point out the necessity of modifying the trajectory after throwing the gripper. Then we propose the utilization of an impulsive force applied to the gripper in the air through the string by restricting the motion of the string. Investigating the impulsive force generation through experiments, we confirmed the effectiveness of the method which was evaluated by comparing the results of numerical simulations with those of our experiments using the experimental casting manipulator hardware.
论完整系统的构建
DOI：
--
发表时间：
2013
期刊：
影响因子：
--
作者：
根來均;他;Yoshishige Haraoka
通讯作者：
Yoshishige Haraoka