Contact Force Analysis in Static Two-fingered Robot Grasping
學年 102
學期 1
發表日期 2013-08-04
作品名稱 Contact Force Analysis in Static Two-fingered Robot Grasping
作品名稱（其他語言）
著者 I Cheng; C. H. Liu; and Yin-Tien Wang
作品所屬單位 淡江大學機械與機電工程學系
出版者 NY: American Society of Mechanical Engineers
會議名稱 ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference
會議地點 Portland, Oregon, USA
摘要 Static grasping of a spherical object by two robot fingers is studied in this paper. The fingers may be rigid bodies or elastic beams, they may grasp the body with various orientation angles, and the tightening displacements may be linear or angular. Closed-form solutions for normal and tangential contact forces due to tightening displacements are obtained by solving compatibility equations, force-displacement relations based on Hertz contact theory, and equations of equilibrium. Solutions show that relations between contact forces and tightening displacements depend upon the orientation of the fingers, the elastic constants of the materials, and area moments of inertia of the beams.
關鍵字 Robot Grasping
語言 en
收錄於 EI
會議性質 國際
校內研討會地點
研討會時間 20130804~20130807
通訊作者 C. H. Liu
國別 USA
公開徵稿 Y
出版型式 電子版
出處 Proceedings of the ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2013, 9p.
相關連結

機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/96180 )

機構典藏連結
SDGS 尊嚴就業與經濟發展,產業創新與基礎設施