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| STUDY OF KINEMATICS FOR DEXTROUS ROBOT HANDS |
| YU Jianguo, MA Xiangfeng |
| Beijing University of Science and Technology, 100083 |
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Abstract This paper discusses the kinematics of dextrous robot hands manipulating an object with rolling and con-trolled sliding on one point contact with finger.The contact constraints of fingers and object are analyzed andthe relationships on position.velocity and acceleration between finger-joint motion and object motion and ob-ject motion are formulated.The motion constraints of 3R,4R and 5R fingers are presented.The theory hasbeen validated by velocity simulation and graphical simulations for a 5-4-5 hand.
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Received: 28 October 1992
Published: 15 November 1993
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