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    题名: Contact Force Analysis in Static Two-fingered Robot Grasping
    作者: I Cheng;C. H. Liu;Yin-Tien Wang
    贡献者: 淡江大學機械與機電工程學系
    关键词: Robot Grasping
    日期: 2013-08-05
    上传时间: 2014-03-05 16:39:44 (UTC+8)
    出版者: NY: American Society of Mechanical Engineers
    摘要: Static grasping of a spherical object by two robot fingers is studied in this paper. The fingers may be rigid bodies or elastic beams, they may grasp the body with various orientation angles, and the tightening displacements may be linear or angular. Closed-form solutions for normal and tangential contact forces due to tightening displacements are obtained by solving compatibility equations, force-displacement relations based on Hertz contact theory, and equations of equilibrium. Solutions show that relations between contact forces and tightening displacements depend upon the orientation of the fingers, the elastic constants of the materials, and area moments of inertia of the beams.
    關聯: Proceedings of the ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2013, 9p.
    显示于类别:[機械與機電工程學系暨研究所] 會議論文


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