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.
| Original language | English |
|---|---|
| Pages (from-to) | 361-365 |
| Number of pages | 5 |
| Journal | Chinese Journal of Mechanical Engineering (English Edition) |
| Volume | 18 |
| Issue number | 3 |
| DOIs | |
| State | Published - Sep 2005 |
Keywords
- Dexterous hands
- Differential kinematics
- Passive joints
- Pure rolling
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