한국산업융합학회 논문집 (Journal of the Korean Society of Industry Convergence)

  • 제18권4호
  • /
  • Pages.231-240
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  • 2015
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  • 1226-833X(pISSN)
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  • 2765-5415(eISSN)
한국산업융합학회 (The Korean Society of Industry Convergence)
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로봇핸드 핑거의 설계 및 운동학적 해석에 관한 연구

A study on Design and Kinematics Analysis of Robot Hand Fingers

  • 투고 : 2015.09.25
  • 심사 : 2015.10.29
  • 발행 : 2015.11.30
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초록

In this paper, it was presented to design and analyze the kinematics of grasping a rigid object by means of multi-degrees-of-freedom hand fingers. It is shown firstly that a set of kinematic equation describing dynamics system of the arm and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It has been presented secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this research, the control method for static stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the kinematic grasping of the hand fingers of robot.

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참고문헌

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