多指ハンドによるパワーグラスプの力学的特性

• 小俣 透

  東京工業大学

• 永田 和之

  電子技術総合研究所

書誌事項

タイトル別名

• Statics of Power Grasps with a Multifingered Hand.

抄録

A multifingered hand can manipulate an object skillfully with fingertip contacts. It can also grasp an object stably with finger link contacts. Such grasp is called power grasp. When Coulomb friction is assumed at contact points and the number of contacts is greater than the number of joint torques, the contact forces balancing the joint torques are not necessarily determined uniquely. This paper investigates how indeterminate grasp forces of power grasps are distributed assuming that both the finger links and grasped object are rigid bodies. We show that the sliding motion between a grasped object and finger links is restricted when the grasp forces are indeterminate. In general, a frictional force can occur only in the reverse direction of sliding. Thus the indeterminate grasp forces of power grasps are also restricted. This analysis leads to the condition that they are uniquely determined. This paper also discusses form closure of power grasps which can generate unique grasp forces against any disturbances.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 13 (4), 525-531, 1995

  一般社団法人 日本ロボット学会

キーワード

• Multifingered Hand
• Power Grasp
• Internal Force

詳細情報

• CRID: 1390001204725453952
• NII論文ID: 10007439288
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.13.525
• ISSN: 18847145
• ISSN: 02891824
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可