| 纯滚动点接触三指机器人手的位置分析 |
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| 引用本文： | 钱瑞明.纯滚动点接触三指机器人手的位置分析[J].东南大学学报(自然科学版),1993,23(Z1):27-31. |
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| 作者姓名： | 钱瑞明 |
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| 作者单位： | 东南大学机械工程系 |
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| 摘 要： | 在认为指端与物体构成纯滚动点接触情况下，利用三指手与物体间的速度关系，提出了一种三指手位置分析简便算法，可解决由手指关节转角确定物体位置及指端和物体上接触点位置，或由和物体位置确定指关节转角指端和物体上接触点位置等问题。
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| 关 键 词： | 机器人 三指手 滚动接触 位置分析 |
Displacement Analysis on Three-Fingered Robot Hand with Rolling Contact |
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| Qian Ruiming.Displacement Analysis on Three-Fingered Robot Hand with Rolling Contact[J].Journal of Southeast University(Natural Science Edition),1993,23(Z1):27-31. |
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| Authors: | Qian Ruiming |
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| Institution: | Department of Mechanical Engineering |
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| Abstract: | Under the condition of pure rolling contact between each of the fingertips and the object,this paper puts forward a simple algorithm of displacement analysis on three-fingered robot hand from the relationships in velocities between the finger-joint motion and the motion of an object.By using the algorithm,we can determine the position and orientation of the object with the angle of each active finger-joint given or determine the angle of each finger-joint with the position and orientation of the object given. |
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| Keywords: | robot three-fingered hand rolling contact displacement analysis |
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