Mechanics of hybrid active/passive-closure grasps

被引：7

作者：

Watanabe, T ^{[1
]}

Jiang, ZW ^{[1
]}

Yoshikawa, T ^{[1
]}

机构：

[1] Yamaguchi Univ, Dept Mech Engn, Ube, Yamaguchi 7558611, Japan

来源：

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年

关键词：

active/passive force closure; grasping; internal forces;

D O I：

10.1109/ROBOT.2004.1307996

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we discuss the directions of active and passive force closures in hybrid active/passive-closure grasps. We show the directions are orthogonal to each other. We. also discuss the magnitudes of the internal forces in the manipulation of the object. In hybrid active/passive-closure grasps, there exist two kinds of magnitudes of internal forces. One is the magnitude of internal forces, which changes if the object moves and the geometry of the fingers changes. The other is the one which don't change even when the object moves. We derive these two magnitudes.

引用

页码：1252 / 1257

页数：6

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