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.

STUDY ON THE KINEMATICS OF A THREE-FINGERED ROBOT HAND

  • 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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