三指机器人手对物体的抓取  

On Grasping Objects by a Three-Fingered Robot Hand

作　　者：钱瑞明[1] 郑文纬[1] 

机构地区：[1]东南大学机械工程系

出　　处：《东南大学学报（自然科学版）》1992年第1期16-22,共7页Journal of Southeast University：Natural Science Edition

基　　金：国家自然科学基金

摘　　要：采用球面指端,借助于物体等距曲面,研究了三指9关节手抓取处于完全约束或非完全约束状态下的物体时指端与物体的接触位置及抓取特性。讨论了获得所需抓取位置时手指关节的运动要求。结合实例给出了上述问题的处理方法.With the help of equidistant surface of an object which is constrained completely or imcompletely, this paper deals with the contact positions on the spheric fingertips and the object and corresponding grasping characteristics when the object is grasped by a robot hand with three fingers and nine joints. Proper finger motions corresponding to the desired grasp configuration are determined. An example is given to illustrate the method of solving the above problems.

关 键 词：机器人 三指手 夹持 接触位置 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]