DocumentCode
1582063
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
fYear
1988
Firstpage
402
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location
Philadelphia, PA
Print_ISBN
0-8186-0852-8
Type
conf
DOI
10.1109/ROBOT.1988.12081
Filename
12081
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