Dynamics of moving-object grasped by a hybrid hand

When a heavy object is cooperatively grasped to move by several fingers of the robot hybrid hand, the inertial properties and the mass distribution of the object must influence largely on the operation precision, grasping stability, and the safety of both the hybrid hand and the object. Hence, it is...

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Veröffentlicht in:	Proceedings of the Institution of Mechanical Engineers. Part K, Journal of multi-body dynamics Journal of multi-body dynamics, 2022-03, Vol.236 (1), p.182-201
Hauptverfasser:	Lu, Yi, Chang, Zefeng, Ye, Nijia
Format:	Artikel
Sprache:	eng
Schlagworte:	Acceleration Actuation Hand (anatomy) Hessian matrices Jacobi matrix method Jacobian matrix Manipulators Mass distribution Object motion Safety Stability Three dimensional analysis Three dimensional models
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