Research on Velocity Directional Manipulability of Dexterous Robot Hand

Abstract:

On the basis of manipulability ellipsoid of manipulator, the velocity directional manipulability of three-fingered dexterous robot hand is defined. Under the condition of given position and orientation, taking the velocity directional manipulability as objective function, the optimal velocity transmission direction is presented in this paper. The given example shows the velocity transmission performance of three-fingered dexterous robot hand on a specific position and orientation.

• Periodical: Applied Mechanics and Materials (Volume 33)
• Pages: 11-16
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.33.11
• Online since: October 2010
• Authors: Jiu Fang Pei, Jin Shi Cheng
• Keywords: Dexterous Robot Hand, Manipulability Ellipsoid, Velocity Directional Manipulability, Velocity Transmission

References

[1] T. Yoshikawa: Int. J. of Robotics Research Vol. 2 (1985) No. 4, pp.3-9.

[2] Z.X. Li, S.S. Sastry: IEEE Journal of Robotics and Automation Vol. 4 (1988) No. 1, pp.32-44.

[3] C.H. Xiong, G.H. Dai, C.L. Zhang, et al: Journal of Jianghan Petroleum Institute Vol. 19 (1997) No. 1, pp.85-88.

[4] H. Asada, J.A. Cro Granito: Pro. of the IEEE International Conf. on Robotics and Automation, St. Louis, Mo, (1985: 244-250).

[5] A.J. Chen, X.W. Ma: Machine Design Vol. 21 (2004) No. 12, pp.32-35.

[6] X.C. Li, D.B. Zhao and J.Q. Yi: China Machine Engineering Vol. 17 (2006) No. 14, pp.1442-1447.

[7] C.H. Xiong, H. Ding and Y.L. Xiong: Fundamentals of Robotic Grasping and fixturing (World Scientific Publishing Co. Pte. Ltd, 2007).