| Popis: |
This paper presents a comprehensive study of the distribution of the forces made by an anthropomorphic mechanical hand taking hold of an object by power grasp. First of all, we made an experimental study of an “object - human finger” type of contact in order to define the relations between the normal forces, the tangential forces and the relative displacements of the finger. Secondly, we realized a 3D modelling of a hand by an polyarticulated mechanical system. Thirdly, a study of the hand closing in effortlessly round the object was taken up. This consisted of determining the coordinates of the contact points on the object and the joint coordinates of the phalanxes. Finally, we devoted ourselves explaining the formalism through which the relations between joint forces, joint coordinates, the forces generated at contacts and the wrench of external efforts can be obtained. |
