Mechanics of sliding manipulation by multifingered hands-development of fixtures for automatical assembly

The authors propose a type of jig which can automatically manipulate an object into a desired position and orientation. The jig consists of multifingered hands and jig base. The characteristics of the jig are that multifingered hands with one degree of freedom are arranged. Its advantages are that the mechanism is simple and that heavy objects can be manipulated. The disadvantage is that sliding occurs between the object and fingertip. The manipulations considered are in large motions of an object with sliding contact by simple mechanism multifingered hands. The kinematics and dynamics of manipulation involving sliding in the plane are discussed. The manipulation planning concerning kinematics and dynamics is presented. The results of the simulation are illustrated