Stability analysis and optimal enveloping grasp planning of a deployable robotic hand
文献类型：期刊论文
| 作者 | Li, Guotao2 ; Xu, Peng3; Qiao, Shangling1; Li, Bing1,3
|
| 刊名 | MECHANISM AND MACHINE THEORY
 |
| 出版日期 | 2021-04-01 |
| 卷号 | 158页码:16 |
| 关键词 | Enveloping grasp Force-closure Optimization Grasp planning |
| ISSN号 | 0094-114X |
| DOI | 10.1016/j.mechmachtheory.2020.104241 |
| 通讯作者 | Li, Bing(libing.sgs@hit.edu.cn) |
| 英文摘要 | Enveloping grasp planning of the contact points is a challenging task in the field of robotics due to the complex constraints during grasp manipulation. In this paper, grasp stability analysis and optimal enveloping grasp planning of a deployable robotic hand (DRH) are studied. First, a method for computing the grasp stability evaluation index of the enveloping grasp is proposed based on the geometric analysis. Second, the effects of the friction coefficients and the deployment length of the DRH on the grasp stability of the enveloping grasp are analyzed and summarized. Third, an optimal enveloping grasp planning method is proposed to obtain the desired deployment length of the DRH and to achieve a firm grasp. Finally, the effectiveness and feasibility of the proposed optimal enveloping grasp planning method are validated through experiments. (C) 2021 Elsevier Ltd. All rights reserved. |
| 资助项目 | National Natural Science Foundation of China[U1613201] ; National Key Research and Development Program of China ; Shenzhen Research and Development Program of China[JCYJ20200109112818703] |
| WOS研究方向 | Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:000615930300006 |
| 出版者 | PERGAMON-ELSEVIER SCIENCE LTD |
| 资助机构 | National Natural Science Foundation of China ; National Key Research and Development Program of China ; Shenzhen Research and Development Program of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/43281]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 通讯作者 | Li, Bing |
| 作者单位 | 1.Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Harbin Inst Technol, Sch Mech Engn & Automat, Shenzhen 518055, Peoples R China |
| 推荐引用方式 GB/T 7714 | Li, Guotao,Xu, Peng,Qiao, Shangling,et al. Stability analysis and optimal enveloping grasp planning of a deployable robotic hand[J]. MECHANISM AND MACHINE THEORY,2021,158:16. |
| APA | Li, Guotao,Xu, Peng,Qiao, Shangling,&Li, Bing.(2021).Stability analysis and optimal enveloping grasp planning of a deployable robotic hand.MECHANISM AND MACHINE THEORY,158,16. |
| MLA | Li, Guotao,et al."Stability analysis and optimal enveloping grasp planning of a deployable robotic hand".MECHANISM AND MACHINE THEORY 158(2021):16. |
入库方式： OAI收割
来源：自动化研究所
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