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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/54183

    Title: 兩指抓取位置分析
    Other Titles: An analysis on two-fingered grasping positions
    Authors: 陳偉恩;Chen, Wei-En
    Contributors: 淡江大學機械與機電工程學系碩士班
    Keywords: 抓取;接觸分析;庫倫摩擦定律;Grasping;contact analysis;Coulomb Friction Law
    Date: 2011
    Issue Date: 2011-06-16 22:07:58 (UTC+8)
    Abstract: 論文提要內容:
    A technique to determine the best grasping positions for a two-fingered grasping is suggested in this thesis. We utilize the fact that there is one degree of indeterminacy in an inverse dynamics problem; implying that one contact force may be chosen as the unspecified force, from which values of all other forces may be determined. Hence the condition for slipping can be expressed in terms of this force. We define the best grasping position as the one that requiring the minimum normal force, whose value is also determined by this unspecified force. In this thesis we only treated the case of grasping a spherical object. Results show that the best grasping position is always on the opposite sides of a great circle.
    The graspable region can also be determined by locating its boundary, which corresponds to the case that the discriminant of a quadratic equation becomes zero.
    Appears in Collections:[機械與機電工程學系暨研究所] 學位論文

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