日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
多指ハンドによるパワーグラスプの力学的特性
小俣 透永田 和之
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ジャーナル フリー

1995 年 13 巻 4 号 p. 525-531

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抄録
A multifingered hand can manipulate an object skillfully with fingertip contacts. It can also grasp an object stably with finger link contacts. Such grasp is called power grasp. When Coulomb friction is assumed at contact points and the number of contacts is greater than the number of joint torques, the contact forces balancing the joint torques are not necessarily determined uniquely. This paper investigates how indeterminate grasp forces of power grasps are distributed assuming that both the finger links and grasped object are rigid bodies. We show that the sliding motion between a grasped object and finger links is restricted when the grasp forces are indeterminate. In general, a frictional force can occur only in the reverse direction of sliding. Thus the indeterminate grasp forces of power grasps are also restricted. This analysis leads to the condition that they are uniquely determined. This paper also discusses form closure of power grasps which can generate unique grasp forces against any disturbances.
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© 社団法人 日本ロボット学会
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