Optimization of Power Grasps for Multiple Objects.

• YOSHIKAWA Tsuneo

• WATANABE Tetsuyou

• DAITO Mutsuo

Bibliographic Information

Other Title

• 複数対象物に対するパワーグラスプの最適化
• フクスウ タイショウブツ ニ タイスル パワーグラスプ ノ サイテキカ

Abstract

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.

Journal

• TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C

  TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 68 (668), 1223-1230, 2002

  The Japan Society of Mechanical Engineers

Keywords

• Robot
• Dynamics of Machinery
• Friction
• Power Grasp
• Optimization
• Multiple Objects

Details

• CRID: 1390001206356200192
• NII Article ID: 110002378466
• NII Article ID: 130004234293
• NII Book ID: AN00187463
• DOI: 10.1299/kikaic.68.1223
• ISSN: 18848354
• ISSN: 03875024
• NDL BIB ID: 6148156
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I6148156
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/68/668/68_668_1223/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed