钱瑞明, 郑文纬, 俞建国. 三指机器人手的运动学研究[J]. 机器人, 1991, 13(5): 27-31.
引用本文: 钱瑞明, 郑文纬, 俞建国. 三指机器人手的运动学研究[J]. 机器人, 1991, 13(5): 27-31.
QIAN Ruiming, ZHENG Wenwei, YUJianguo. STUDY ON THE KINEMATICS OF A THREE-FINGERED ROBOT HAND[J]. ROBOT, 1991, 13(5): 27-31.
Citation: QIAN Ruiming, ZHENG Wenwei, YUJianguo. STUDY ON THE KINEMATICS OF A THREE-FINGERED ROBOT HAND[J]. ROBOT, 1991, 13(5): 27-31.

三指机器人手的运动学研究

STUDY ON THE KINEMATICS OF A THREE-FINGERED ROBOT HAND

  • 摘要: 本文研究了指端与物体间为纯滚动接触时三指9关节机器人手操作物体的运动学问题,建立了手指关节运动与物体运动之间的位置关系、速度关系和加速度关系,给出了9个节间的运动约束条件.

     

    Abstract: This paper discusses the kinematics of manipulating an object by a three-fingered hand with 9 joints,for the case of pure rolling between fingertips and object. The relationships in position, velocity andacceleration between the finger-joint motions and the motion of an object are formulated. And the motionconstraints among 9 joints are established.

     

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