Static Stability Analysis of a Single Planar Object Grasped by a.Multifingered Hand

Static Stability Analysis of a Single Planar Object Grasped by a.Multifingered Hand

下载PDF

导出

作者 Takayoshi Yamada Manabu Yamada Hidehiko Yamamoto

机构地区 Department of Human and Information Systems Department of Mechanical Engineering

出处《Journal of Mechanics Engineering and Automation》 2012年第10期606-627,共22页 机械工程与自动化（英文版）

关键词平面物体稳定性分析刚度矩阵静力旋转接头弹簧模型位移方向关节模型 Grasping, multifingered hands, static grasp stability, revolute joint stiffness model.

参考文献19

1H. Hanafusa, H. Asada, Stable prehension by a robot hand with elastic fingers, Robot Motion Planning and Control MIT Press, 1982, pp. 323-335.
2V.D. Nguyen, The synthesis of stable grasps in the plane, in: Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA), 1986, pp. 884-889.
3V.D. Nguyen, Constructing stable grasps, Int.J. of Robotics Research 7 (3) (1988) 3-16.
4Y. Funahashi, T. Yamada, M. Tate, Y. Suzuki, Grasp stability analysis considering the curvatures at contact points, in: Proc. of IEEE ICRA, 1996, pp. 3040-3046.
5W. Howard, V. Kumar, On the stability of grasped objects, IEEE Trans. on Robotics and Automation 12 (6) (1996) 904-917.
6Q. Lin, 1. Burdick, E. Rimon, Computation and analysis of natural compliance in fixturing and grasping arrangements, IEEE Trans. on Robotics 20 (4) (2004) 651-667.
7A. Shapiro, E. Rimon, S. Shoval, On the passive force closure set of planar grasps and fixtures, Int.J. of Robotics Research 29 (11) (2010) 1435-1454.
8W.S. Howard, V. Kumar, Modeling and analysis of the compliance and stability of enveloping grasps, in: Proc. of IEEE ICRA, 1995, pp. 1367-1372.
9T. Yamada, S. K. Saha, N. Mimura, Y. Funahashi, Stability analysis of planar grasps with 2D-virtual spring model,J. of Robotics and Mechatronics 11 (4) (1999) 274-282.
10T. Yamada, T. Koishikura, Y. Mizuno, N. Mimura, Y. Funahashi, Stability analysis of 3D grasps by a multi fingered hand (inJapanese), Trans. ofJSME C 69 (670) (2003) 127-134.

1郭躬良,张启先.柔性手抓持平面物体的最佳状态分析[J].机器人,1990,12(2):25-33.
2苏东海,王唱.高速旋转接头试验台的研制[J].机械工程与自动化,2016(5):115-116. 被引量：1
3管贻生,张启先,李泽湘.HYBRID POSITION/FORCE MANIPULATION OF MULTIFINGERED HAND[J].Chinese Journal of Aeronautics,1998,11(2):64-72.
4姬靖.场景中平面物姿态鲁棒估计[J].机电工程技术,2012,41(11):30-33.
5魏海涛,童世明,陈芳信.平面物体的全剖切运算[J].计算机工程与设计,1999,20(5):56-59. 被引量：2
6Ruiming LI,Yan-An YAO.Eversible duoprism mechanism[J].Frontiers of Mechanical Engineering,2016,11(2):159-169. 被引量：1
7王金敏,张恒毅,李乃华,姚遥.平面物体扫掠区域的算法研究[J].工程图学学报,2004,25(2):46-50.
8李家炜,谢宗武,蔡鹤皋.Coordinated control and autonomous grasp with multifingered robot hands[J].Journal of Harbin Institute of Technology(New Series),2000,7(2):98-104.
9韩树国.钢结构厂房性能的分析与研究[J].中国科技纵横,2014,0(22):85-85.
10向祖权,靳超,郭纯轩,许慧文.一种基于区域分割和目标搜索的室内定位方法[J].武汉理工大学学报（交通科学与工程版）,2016,40(4):680-683. 被引量：2

2012年第10期

内容加载中请稍等...