DocumentCode
309463
Title
Stiffness analysis of multi-fingered robot hands
Author
Choi, H.R. ; Chung, W.K. ; Youm, Y.
Author_Institution
Dept. of Mech. Eng., Pohang Inst. of Sci. & Technol., South Korea
Volume
2
fYear
1993
fDate
26-30 Jul 1993
Firstpage
883
Abstract
The stiffness of a grasp is analyzed on the basis of the generalized virtual stiffness (GVS) model. Considering that the normal and lateral stiffness of the finger usually are not decoupled due to kinematics and mechanical design, GVS is formulated as coupled virtual springs. The authors relate GVS to the effective fingertip stiffness including the additional stiffness at the joint space. Based on the grasp stiffness formulation, simulations were carried out, focusing on the grasp stability
Keywords
manipulator kinematics; GVS; coupled virtual springs; fingertip stiffness; generalized virtual stiffness; grasp stability; grasp stiffness; joint space; kinematics; lateral stiffness; mechanical design; multi-fingered robot hands; stiffness analysis; Electronic switching systems; Fingers; Kinematics; Mechanical engineering; Motion analysis; Robots; Servomechanisms; Springs; Stability; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location
Yokohama
Print_ISBN
0-7803-0823-9
Type
conf
DOI
10.1109/IROS.1993.583240
Filename
583240
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