Abstract：This paper deals with manipulation mechanism of plannar robot hand with (pure) rolling contacts.Some kinematical compatible conditions of finger-tip motions are obtained. A method of manipulationplaning is developed. If the motions of finger-tips are given and if they satisfy compatible conditions, themotion of manipulated object can be derived by using the method presented. On the other hand, we canplan the motion of the fingers, so that prescribed motion of manipulated object can be realized.
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