Title :
Grasping with elastic finger tips
Author :
Choi, K.K. ; Jiang, S.L. ; Li, Z.
Author_Institution :
Dept. of Electr. & Electron. Eng., Hong Kong Univ. of Sci. & Technol., Kowloon, Hong Kong
Abstract :
Investigates the stiffness and kinematics of an object grasped by multiple elastic fingers. The derivation is based on the work of Svinin (1995), but derived with the approach of minimization of energy and using Montana´s (1989) equations of contact model. The result gives a closed form expression of object stiffness in terms of contact finger stiffness, contact locations and contact point curvatures
Keywords :
Jacobian matrices; dexterous manipulators; manipulator kinematics; minimisation; tactile sensors; closed form expression; contact point curvatures; elastic finger tips; energy minimisation; equations of contact; grasping; stiffness; Angular velocity; Equations; Fingers; Helium; Jacobian matrices; Kinematics; Motion analysis; Potential energy; Power engineering and energy; Stability analysis;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.772422
