scholarly journals Control of Grasping/Manipulation of an Object and Contact Points with Rolling Contact by Two-Fingered Robot Hand

2004 ◽  
Vol 40 (1) ◽  
pp. 70-79 ◽  
Author(s):  
Akira NAKASHIMA ◽  
Kenji NAGASE ◽  
Yoshikazu HAYAKAWA
Keyword(s):  
Rolling Contact ◽  
Robot Hand ◽  
Contact Points

SIMULTANEOUS CONTROL OF GRASP/MANIPULATION AND CONTACT POINTS WITH ROLLING CONTACT

2005 ◽  
Vol 38 (1) ◽  
pp. 415-420 ◽  
Author(s):  
Akira Nakashima ◽  
Kenji Nagase ◽  
Yoshikazu Hayakawa
Keyword(s):  
Rolling Contact ◽  
Contact Points ◽  
Simultaneous Control

An Algorithm for Force-Closure Grasping of Three-Fingered Hand

2011 ◽  
Vol 250-253 ◽  
pp. 3965-3970
Author(s):  
Qing Yun Liu ◽  
Bo Jiang ◽  
Xiao Liu Yu
Keyword(s):  
Full Rank ◽  
Existence Condition ◽  
Robot Hand ◽  
Relative Location ◽  
Equilibrium Relation ◽  
Geometrical Characteristics ◽  
Contact Points ◽  
Force Closure ◽  
Internal Forces ◽  
Hand Force

On the assumption of FCWF model, the conditions of three-fingered robot hand force-closure grasping are equivalent to grasp matrix be full rank and exist rigorous internal forces. Based on the analysis to the geometrical characteristics of contact points, the existence condition of the frictional sectors is established. By means of studying the relative location relationships between the frictional sector borderlines and their intersections, the existence condition of the concurrent polygon of three internal forces is presented. Taking the equilibrium relation of internal forces into consideration, a general algorithm using vector calculation for force-closure grasping is established. An example is given to illustrate the validity of the algorithm.

Parameter Identification of a Grasp by a Planar Two-Fingered Robot Hand

1993 ◽  
Vol 5 (1) ◽  
pp. 12-18 ◽  
Author(s):  
Nobuharu Mimura ◽  
◽  
Yasuyuki Funahashi ◽  
Keyword(s):  
Parameter Identification ◽  
Robot Hand ◽  
Joint Angles ◽  
Unknown Parameters ◽  
Numerical Example ◽  
Contact Points ◽  
Unknown Object

Unknown forced and unknown contact points for the case in which a planar two-fingered robot hand achieves a stable grasp on an unknown object are identified in this paper. It is shown that the unknown parameters of the grasping system can be identified by detection of joint angles and torques while the object is manipulated slightly. Finally, it is illustrated by a numerical example that the algorithm of the grasp parameter identification is valid.

Experimental Study of Rolling Contact Fatigue Life of Zirconia Ceramic Ball

2010 ◽  
Vol 152-153 ◽  
pp. 1272-1275
Author(s):  
Jing Ling Zhou ◽  
Wei Ming Zuo ◽  
Xiao Yang Chen ◽  
Guo Qing Wu
Keyword(s):  
Rolling Contact Fatigue ◽  
Contact Fatigue ◽  
Rolling Contact ◽  
Fatigue Properties ◽  
Zirconia Ceramic ◽  
Contact Points ◽  
Pure Rolling ◽  
Contact Fatigue Life ◽  
Life Tests ◽  
Weibull Theory

A newly developed pure rolling fatigue test rig with three contact points for bearing balls was used to perform rolling contact fatigue (RCF) tests and the fatigue properties of two kinds of zirconia ceramic balls produced with different materials composition and identical technologies were compared. Ball surfaces were examined after failure with optical microscopy and scanning electron microscopy. It was identified by tests that the failure mode of zirconia ceramic balls was surface spall. Life tests data, summarized in accordance with the Weibull theory, showed that the life of two kinds of zirconia balls was close, and no remarkable difference in the divergence between the tested two kinds of balls was found

Wheelset Mechanics During Wheelclimb Derailment

1984 ◽  
Vol 51 (3) ◽  
pp. 680-686 ◽  
Author(s):  
A. Karmel ◽  
L. M. Sweet
Keyword(s):  
Degrees Of Freedom ◽  
Lateral Displacement ◽  
Equations Of Motion ◽  
Rolling Contact ◽  
Nonlinear Dynamic Model ◽  
Normal Forces ◽  
Contact Points ◽  
Vertical Roll ◽  
Predicted Values ◽  
Railroad Vehicle

An analysis of the mechanics and dynamics of a railroad vehicle wheelset during flange contact and wheelclimb derailment is presented. The theoretical model includes wheelset lateral, vertical, roll, yaw, and axle rotation degrees of freedom, plus lateral displacement of the truck frame. The equations of motion are based on the kinematics and dynamics of the wheelset subject to constraints imposed by wheel/rail contact geometry. These constraints are used to compute creepages and normal forces at the wheel/rail contact points, needed as inputs to the Kalker Simplified Theory of rolling contact. Computational methods for simulation of the nonlinear dynamic model are discussed. Results of the simulation demonstrate the significance of the various degrees of freedom on wheelset motion and on predicted values of the derailment quotient (Q/P).

In-hand forward and inverse kinematics with rolling contact

Robotica ◽  
2017 ◽  
Vol 35 (12) ◽  
pp. 2381-2399 ◽  
Author(s):  
Lei Cui ◽  
Jie Sun ◽  
Jian S. Dai
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Rolling Contact ◽  
Moving Frame ◽  
Robot Hand ◽  
Robotic Hands ◽  
Geometric Framework ◽  
Univariate Polynomial ◽  
Forward And Inverse Kinematics ◽  
Exponential Formula

SUMMARYRobotic hands use rolling contact to manipulate a grasped object to a desired location, even when the finger and the palm linkage mechanisms lack degrees of freedom. This paper presents a systematic approach to the forward and inverse kinematics of in-hand manipulation. The moving frame method in differential geometry is integrated into the product of exponential formula to establish a pure geometric framework of the kinematics of a robot hand. The forward and inverse kinematics of a multifingered hand are obtained in terms of the joint rates and contact trajectories. A two-fingered planar robot hand and a three-fingered spatial robot hand are used to demonstrate the proposed approach. The proposed formulation amounts to solving a univariate polynomial, providing an alternative to the existing ones that require numerical integration.

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