關鍵字查詢 | 類別:期刊論文 | | 關鍵字:Contact force analysis on two-fingered robot grasping

[第一頁][上頁]1[次頁][最末頁]目前在第 1 頁 / 共有 02 筆查詢結果
序號 學年期 教師動態
1 109/1 機械系 劉昭華 教授 期刊論文 發佈 Contact force analysis on two-fingered robot grasping , [109-1] :Contact force analysis on two-fingered robot grasping期刊論文Contact force analysis on two-fingered robot graspingJiun-Ru Chen; Wei-En Chen; C. H. Liu; Yin-Tien Wang; C. B. Lin; Guan-Chen ChenContact force analysis;inverse kinetics;tightening displacement;Coulomb's law of friction;mechanics of manipulatorsJournal of Multi-body DynamicsA procedure for inverse kinetic analysis on two hard fingers grasping a hard sphere is proposed in this study. Contact forces may be found for given linear and angular accelerations of a spherical body. Elastic force-displacement relations predicted by Hertz contact theory are used to remove the indeterminancy produced by rigid body modelling. Two types of inverse kinetic analysis may be dealt with. Firstly, as the fingers impose a given tightening displacement on the body, and carry it to move with known accelerations, corresponding grasping forces may be determined by a numerical procedure. In this procedure one contact force may be chosen as the principal
2 109/1 機械系 林清彬 教授 期刊論文 發佈 Contact force analysis on two-fingered robot grasping , [109-1] :Contact force analysis on two-fingered robot grasping期刊論文Contact force analysis on two-fingered robot graspingJiun-Ru Chen; Wei-En Chen; CH Liu; Yin-Tien Wang; CB Lin; Guan-Chen ChenContact force analysis;inverse kinetics;tightening displacement;Coulomb's law of friction;mechanics of manipulatorsProceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body DynamicsA procedure for inverse kinetic analysis on two hard fingers grasping a hard sphere is proposed in this study. Contact forces may be found for given linear and angular accelerations of a spherical body. Elastic force-displacement relations predicted by Hertz contact theory are used to remove the indeterminancy produced by rigid body modelling. Two types of inverse kinetic analysis may be dealt with. Firstly, as the fingers impose a given tightening displacement on the body, and carry it to move with known accelerations, corresponding grasping forces may be determined by a numerical procedure. In this p
[第一頁][上頁]1[次頁][最末頁]目前在第 1 頁 / 共有 02 筆查詢結果