淡江大學機構典藏:Item 987654321/122359
English  |  正體中文  |  简体中文  |  全文筆數/總筆數 : 62797/95867 (66%)
造訪人次 : 3730559      線上人數 : 622
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
搜尋範圍 查詢小技巧:
  • 您可在西文檢索詞彙前後加上"雙引號",以獲取較精準的檢索結果
  • 若欲以作者姓名搜尋,建議至進階搜尋限定作者欄位,可獲得較完整資料
  • 進階搜尋
    請使用永久網址來引用或連結此文件: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/122359


    題名: Contact force analysis on two-fingered robot grasping
    作者: Jiun-Ru Chen;Wei-En Chen;Chao-Hwa Liu;Yin-Tien Wang;Ching-Bin Lin;Guan-Chen Chen
    關鍵詞: Contact force analysis;inverse kinetics;tightening displacement;Coulomb’s law of friction;mechanics of manipulators
    日期: 2021-06
    上傳時間: 2022-03-04 12:12:59 (UTC+8)
    摘要: A procedure for inverse kinetic analysis on two hard fingers grasping a hard sphere is proposed in this study. Contact forces may be found for given linear and angular accelerations of a spherical body. Elastic force-displacement relations predicted by Hertz contact theory are used to remove the indeterminancy produced by rigid body modelling. Two types of inverse kinetic analysis may be dealt with. Firstly, as the fingers impose a given tightening displacement on the body, and carry it to move with known accelerations, corresponding grasping forces may be determined by a numerical procedure. In this procedure one contact force may be chosen as the principal unknown, and all other contact forces are expressed in terms of this force. The numerical procedure is hence very efficient since it deals with a problem with only one unknown. The solution procedure eliminates slipping thus only nonslip solutions, if they exist, are found.

    Secondly, when the body is moving with known accelerations, if the grasping direction of the two fingers is also known, then the minimum tightening displacement required for non-sliding grasping may be obtained in closed form. In short, the proposed technique deals with a grasping system that has accelerations, and in this study the authors show that indeterminancy may be used to reduce the complexity of the problem.
    關聯: Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 235(2), p.260-270
    DOI: 10.1177/1464419320964022
    顯示於類別:[機械與機電工程學系暨研究所] 期刊論文

    文件中的檔案:

    檔案 描述 大小格式瀏覽次數
    index.html0KbHTML45檢視/開啟

    在機構典藏中所有的資料項目都受到原著作權保護.

    TAIR相關文章

    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library & TKU Library IR teams. Copyright ©   - 回饋