Manipulation kinematics on dexterous hands considering pure rolling contacts as passive joints

Yang Yang; Tamio Arai

doi:10.3901/cjme.2005.03.361

Manipulation kinematics on dexterous hands considering pure rolling contacts as passive joints

Yang Yang^*
, Tamio Arai

^*此作品的通讯作者

机械工程及自动化学院

The University of Tokyo

科研成果: 期刊稿件 › 文章 › 同行评审

1 引用（Scopus）

摘要

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.

源语言	英语
页（从-至）	361-365
页数	5
期刊	Chinese Journal of Mechanical Engineering (English Edition)
卷	18
期	3
DOI	https://doi.org/10.3901/cjme.2005.03.361
出版状态	已出版 - 9月 2005

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title = "Manipulation kinematics on dexterous hands considering pure rolling contacts as passive joints",

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.",

keywords = "Dexterous hands, Differential kinematics, Passive joints, Pure rolling",

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AU - Arai, Tamio

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N2 - 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.

AB - 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.

KW - Dexterous hands

KW - Differential kinematics

KW - Passive joints

KW - Pure rolling

UR - https://www.scopus.com/pages/publications/26944437972

U2 - 10.3901/cjme.2005.03.361

DO - 10.3901/cjme.2005.03.361

M3 - 文章

AN - SCOPUS:26944437972

SN - 1000-9345

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SP - 361

EP - 365

JO - Chinese Journal of Mechanical Engineering (English Edition)

JF - Chinese Journal of Mechanical Engineering (English Edition)

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ER -

Manipulation kinematics on dexterous hands considering pure rolling contacts as passive joints

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