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Yang Yang
School
of Mechanical Engineering
and Automation,
Beihang University,
Beijing 100083, China
Tamio Arai
Department of Precision
Machinery Engineering,
Graduate School of Engineering,
The University of Tokyo,
Tokyo 113-8656, Japan |
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MANIPULATION KINEMATICS ON
DEXTEROUS HANDS CONSIDERING
PURE ROLLING CONTACTS AS
PASSIVE JOINTS*
Abstract:
The manipulation and constraint equations are established by considering the pure rolling motion in a dexterous hand as two passive joints. According to mapping relation among the motion of the system, the differential kinematics and mobility are studied. The minimal structure for realizing the task motion of the object is obtained, and the conditions for dexterous manipulation are presented. Finally, some rolling manipulations are used as examples to demonstrate the applicability of approach proposed.
Key words:
Pure rolling Passive joints Differential kinematics Dexterous hands |