摘要
本文在柔性手与操作体点接触的基础上,采用旋量方法表示手指对操作体的作用力,并提出了判断手指抓取位置能平衡任意外力的条件。在指端的法向作用力满足单向性条件及切向作用力满足摩擦条件的前提下,给出了一种求解柔性手抓取力的行之有效的方法。
On the basis of the point-contacting between flexible robot hand and the object, the spinor theory is used in this paper to illustrate grasping forces, with which, however, equilibrium conditions of fingers at grasping position can analyzed. If the conditions of single direction of normal force and the friction due to tangential force are satisfied to the finger-tip, the presented method is available to solve the grasping forces of flexible robot hand.
关键词
机器人
柔性手
抓取力
Robot
Flexible hand
Grasping force
