単一ワイヤ駆動ロボットハンドのＤｙｎａｍｉｃ　Ｐｒｅｓｈａｐｉｎｇ

• 東森 充

  広島大学大学院工学研究科

• 金子 真

  広島大学大学院工学研究科

書誌事項

タイトル別名

• Dynamic Preshaping for a Robot Hand Driven by a Single Wire
• タンイツ ワイヤ クドウ ロボットハンド ノ Dynamic Preshaping

抄録

Dynamic preshaping is important for a high speed capturing robot to catch a moving object successfully. This paper discusses dynamic preshaping for a capturing robot driven by a single wire. To control the finger posture while approaching an object, there are three essential factors, wiring, spring distribution among joints, and mass distribution in each finger link. Giving the final link posture of finger, mass distribution, and tension with respect to time, we explore how to determine both the wiring and the spring distribution. We first show how to find them under a quasi-static motion., where all dynamic effects are neglected. We further explore an approach to find them under a dynamic motion where the tension increases fast enough.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 22 (8), 997-1003, 2004

  一般社団法人 日本ロボット学会

キーワード

• Preshaping
• High Speed Capturing Robot
• Catching
• Wire Driven Robot
• Wiring

詳細情報

• CRID: 1390282679702608000
• NII論文ID: 10014033990
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.22.997
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 7224733
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I7224733
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可