複数対象物に対するパワーグラスプの最適化 Optimization of Power Grasps for Multiple Objects

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抄録

Power grasp is a grasp that can hold objects stably without changing the joint torques of fingers. Almost all studies on power grasp deal with one object. But it is more efficient to hold and manipulate multiple objects at the same time. This paper derives a condition for power grasp for multiple objects. In this procedure, we discuss the set of the external force that can be resisted by only the constraints between objects. From the discussion, we derive the set of the external force that should really be resisted. We also define an optimal power grasp from the viewpoint of decreasing the work of joint torques, and derive the procedure. Lastly, we show some numerical examples to verify the validity of our approach.

収録刊行物

  • 日本機械学会論文集. C編

    日本機械学会論文集. C編 68(668), 1223-1230, 2002-04-25

    一般社団法人日本機械学会

参考文献:  9件中 1-9件 を表示

被引用文献:  1件中 1-1件 を表示

各種コード

  • NII論文ID(NAID)
    110002378466
  • NII書誌ID(NCID)
    AN00187463
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    03875024
  • NDL 記事登録ID
    6148156
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1056
  • データ提供元
    CJP書誌  CJP引用  NDL  NII-ELS 
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