机器人多指手的协调运动学

Coordinated Kinematics of Multifingered Robot Hands

在全面分析手指关节运动与其操作物体间的运动学关系的基础上，给出了普遍适用的多指手的协调运动方程和运动约束条件。

This paper is concerned with the coordinated kinematics of manipulating an object with amultifingered robot hand. In order to fully understand the relationship between the finger-joint motions and the motion of the object,the following aspects have been taken into consid-eration during the investigation,that is,each fingertip always remaining in contact with theobject,dlfferent rnodes of the contact,and the geometries of the object surface and the fin-gertip surface. The constraint conditions of the motion and the coordinated manipulating e-quations for pure rolling and rolling while sliding between fingertips and ohect are given.