An Analysis on Two-fingered Grasping Positions
碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 99 === Abstract: A technique to determine the best grasping positions for a two-fingered grasping is suggested in this thesis. We utilize the fact that there is one degree of indeterminacy in an inverse dynamics problem; implying that one contact force may be chosen...
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| Format: | Others |
| Language: | zh-TW |
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2011
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| Online Access: | http://ndltd.ncl.edu.tw/handle/64055633137066988227 |
| Summary: | 碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 99 === Abstract:
A technique to determine the best grasping positions for a two-fingered grasping is suggested in this thesis. We utilize the fact that there is one degree of indeterminacy in an inverse dynamics problem; implying that one contact force may be chosen as the unspecified force, from which values of all other forces may be determined. Hence the condition for slipping can be expressed in terms of this force. We define the best grasping position as the one that requiring the minimum normal force, whose value is also determined by this unspecified force. In this thesis we only treated the case of grasping a spherical object. Results show that the best grasping position is always on the opposite sides of a great circle.
The graspable region can also be determined by locating its boundary, which corresponds to the case that the discriminant of a quadratic equation becomes zero.
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