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
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;
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
DOI :
10.1109/IROS.1993.583240
