摘要
在手指包容抓取静力分析中 ,给出了基于力螺旋理论来分析手指包容抓取问题 ,对于给定的物体、手指模型及手指与物体间的接触方式 ,给出手指抵抗外力的能力。这种静力分析法对于处理机器人手的抓取操作规划与优化以及力控制设计等问题提供了理论基础。
The problems of analyzing finger containing grab based on force spiral theory is presented in the static force analysis of finger containing grab.The finger's ability to resist exterior forces is given according to specified object,finger model and touching mode between finger and object.This kind of static force analysis method provided a theoretical foundation for handling the problems of planning and optimizing grab operation and the design of force control of robot hand.
出处
《机械设计》
CSCD
北大核心
2002年第10期15-17,共3页
Journal of Machine Design
基金
浙江省自然科学基金资助项目 (50 0 0 30 )
