| 基于抓持分类的接触力分解 |
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| 引用本文： | 张玉茹 张启先. 基于抓持分类的接触力分解[J]. 机械科学与技术, 1997, 16(1): 76-81 |
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| 作者姓名： | 张玉茹 张启先 |
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| 作者单位： | 北京航空航天大学 |
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| 摘 要： | 研究了机器人手抓持物体时接触力、物体所受外力以及手指关节力矩之间的关系。文中针对三类抓持，分别给出了接触力分解的一般表达式，这些表达式比以往文献更有特点
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| 关 键 词： | 抓持分类 接触力 分解 |
Decomposition of Contact Forces Based on the Classification of Grasps |
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| Zhang Yuru Zhang Qixian. Decomposition of Contact Forces Based on the Classification of Grasps[J]. Mechanical Science and Technology for Aerospace Engineering, 1997, 16(1): 76-81 |
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| Authors: | Zhang Yuru Zhang Qixian |
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| Abstract: | This paper investigates the relationships among the contact forces,externally acting forces and finger joint torques in grasping an object with robot hand .Based on the classification of three grasps,the general expression of decomposed contact forces for each grasp can be formulated.These expressions have many special features as compared with those in current literatures. |
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| Keywords: | Classification of grasps Contact force Decomposition |
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