| 欠驱动多指节机器人手的抓力分析 |
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| 引用本文： | 叶军.欠驱动多指节机器人手的抓力分析[J].机械,2001,28(6):6-7,10. |
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| 作者姓名： | 叶军 |
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| 作者单位： | 绍兴文理学院, |
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| 基金项目： | 浙江省自然科学基金资助项目 (5 0 0 0 3 0 ) |
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| 摘 要： | 对欠驱动多指节机器人手的抓力进行了分析，给出了直指和曲指抓取物体时的抓力方程，并对手指抓力作了动态仿真。手指抓力分析为多指节手的机构与力控制设计提供了理论基础。
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| 关 键 词： | 欠驱动多指节机器人手 抓力分析 动态仿真 |
| 文章编号： | 1006-0316(2001)06-0006-03 |
Analysis of grasping force in underactuated robot hand with multi-phalanges |
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| YE Jun.Analysis of grasping force in underactuated robot hand with multi-phalanges[J].Machinery,2001,28(6):6-7,10. |
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| Authors: | YE Jun |
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| Abstract: | This paper gives analysis of grasping force in underactuated robot head with multi-phalanges, equations of grasping force in extending and bending finger manners, and dynamic simulation of the grasping force of fingers. The force analysis provides theoretical foundation in dealing with mechanism and force control designs of the underactuated robot hand with multi-phalanges. |
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| Keywords: | underactuated robot hand with multi-phalanges analysis of grasping force dynamic simulation |
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