Abstract
In this paper, the dynamic equations are established for the active robot hand to manipulate an object. According to the hand design features and certain assumptions, we outline the geometrical and frictional conditions that must be satisfied for the hand to manipulate an object, and propose the objective performance functional of the optimal distributions of its fingertip forces. Further, we adopt the integral SUMT of the closed-region-functional extreme value to determine the force functional extreme value to determine the force function for each fingertip of the hand. Finally, an example is given for the A3-A3-A3 kind of the active hand( The hand is composed of three fingers, each with 3 degrees of freedom, while A3 signifies that the fingertip contact with the object is a point contact with friction) to make the pen draw a planar curve.
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© 1988 Springer-Verlag New York Inc.
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Gongliang, G., Qi-xian, Z. (1988). Optimal Distributive Relation Between Fingertip Forces for the Active Robot Hand to Manipulate an Object. In: Radharamanan, R. (eds) Robotics and Factories of the Future ’87. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-73890-6_48
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DOI: https://doi.org/10.1007/978-3-642-73890-6_48
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-73892-0
Online ISBN: 978-3-642-73890-6
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