Autor:	I Cheng, 成怡
Rok vydání:	2011
Druh dokumentu:	學位論文 ; thesis
Popis:	99 In this research Hertz contact theory and equilibrium equations are used to derive relations between contact forces and tightening displacements for a robot grasping a spherical object. By substituting a tightening displacement of robot fingers into these relations, the corresponding normal and tangential (frictional) components of fingers-to-object contact forces may be determined. For cases of two-fingered grasping, the fingers may be elastic or rigid, and tightening displacements may be linear or angular. As for three and four fingered grasping, the cases with rigid fingers are treated. Closed form solutions are obtained in all these cases.
Databáze:	Networked Digital Library of Theses & Dissertations
Externí odkaz:	http://ndltd.ncl.edu.tw/handle/14942427251075493766 Zobrazit plný text záznamu