Research on Velocity Directional Manipulability of Dexterous Robot Hand
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.
Dunwen Zuo, Hun Guo, Hongli Xu, Chun Su, Chunjie Liu and Weidong Jin
J. F. Pei and J. S. Cheng, "Research on Velocity Directional Manipulability of Dexterous Robot Hand", Applied Mechanics and Materials, Vol. 33, pp. 11-16, 2010