DocumentCode
2089613
Title
Kinematics, statics and stiffness effect of 3D grasp by multifingered hand with rolling contact at the fingertip
Author
Maekawa, Hitoshi ; Tanie, Kazuo ; KOMORIYA, Kiyoshi
Author_Institution
Mech. Eng. Lab., AIST-MITI, Ibaraki, Japan
Volume
1
fYear
1997
fDate
20-25 Apr 1997
Firstpage
78
Abstract
The kinematics, statics and stiffness effect of a 3D grasp by a multifingered hand is investigated considering the rolling contact at the fingertip. By representing the local shape of the fingertip and the object by a quadratic surface and by linearization of the fundamental formulae, the kinematic-static relation for the motion-force of the fingertip, contact location and the object is derived. Additionally, the stiffness effect for object motion that affects the stability of the grasp is analyzed and evaluated for the grasp by a three-fingered hand
Keywords
Jacobian matrices; manipulator kinematics; 3D grasp; fingertip; linearization; local shape; multifingered hand; object motion; quadratic surface; rolling contact; statics; stiffness effect; three-fingered hand; Fingers; Gravity; Humans; Kinematics; Laboratories; Mathematical model; Mechanical engineering; Motion analysis; Shape; Stability analysis;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location
Albuquerque, NM
Print_ISBN
0-7803-3612-7
Type
conf
DOI
10.1109/ROBOT.1997.620019
Filename
620019
Link To Document