Title :
Analysis of a two-fingered manufacturing robotic hand for fine automation processes
Author :
Shahinpoor, M. ; Tootoonchi, A.
Author_Institution :
Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA
Abstract :
The kinematics and the quasistatics of the stable grasping of an object by a planar two-fingered robotic gripper are considered. The object is assumed to be quasistatically manipulated in a fine-motion manufacturing work space while experiencing external forces and moments. Each finger is assumed to be a generalized two-axis revolute robot manipulator moving in harmony with another similar robot situated nearby. The quasistatics of the object are directly related to four-joint torques for servo-control purposes. Both the direct and inverse kinematics and statics are solved completely
Keywords :
industrial robots; kinematics; manufacturing computer control; four-joint torques; generalized two-axis revolute robot manipulator; inverse kinematics; planar gripper; quasistatics; servo-control purposes; stable grasping; statics; two-fingered manufacturing robotic hand; Fixtures; Grippers; Humans; Kinematics; Manufacturing automation; Manufacturing processes; Orbital robotics; Robotic assembly; Robotics and automation; Robots;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12081
