ON GRASPING PLANAR OBJECTS WITH TWO ARTICULATED FINGERS.

被引：0

作者：

Abel, Jacob M. ^{[1
]}

Holzmann, W. ^{[1
]}

McCarthy, J.Michael ^{[1
]}

机构：

[1] Univ of Pennsylvania, Philadelphia,, PA, USA, Univ of Pennsylvania, Philadelphia, PA, USA

来源：

IEEE journal of robotics and automation | 1985年 / RA-1卷 / 04期

关键词：

FRICTION - MATERIALS HANDLING - Manipulators - MECHANISMS - Mathematical Models;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

The grasps attainable by mechanical hands with two opposing articulated fingers are examined. Such grasps are called planar, since all forces lie in plane defined by the contact points and the center of mass of the object. Assuming that the contact interaction can be modeled by point contact with Coulomb friction, the equilibrium equations for the grasped object are obtained. The set of all possible equilibrium grasps is determined for some examples and the results are presented as curves in a friction angle space.

引用

页码：211 / 214

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