Title :
Kinematics, statics and stiffness effect of 3D grasp by multifingered hand with rolling contact at the fingertip
Author :
Maekawa, Hitoshi ; Tanie, Kazuo ; KOMORIYA, Kiyoshi
Author_Institution :
Mech. Eng. Lab., AIST-MITI, Ibaraki, Japan
Abstract :
The kinematics, statics and stiffness effect of a 3D grasp by a multifingered hand is investigated considering the rolling contact at the fingertip. By representing the local shape of the fingertip and the object by a quadratic surface and by linearization of the fundamental formulae, the kinematic-static relation for the motion-force of the fingertip, contact location and the object is derived. Additionally, the stiffness effect for object motion that affects the stability of the grasp is analyzed and evaluated for the grasp by a three-fingered hand
Keywords :
Jacobian matrices; manipulator kinematics; 3D grasp; fingertip; linearization; local shape; multifingered hand; object motion; quadratic surface; rolling contact; statics; stiffness effect; three-fingered hand; Fingers; Gravity; Humans; Kinematics; Laboratories; Mathematical model; Mechanical engineering; Motion analysis; Shape; Stability analysis;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.620019
