文献类型：期刊文献

中文题名：基于虚拟构架模型分析手指包容抓取内力

英文题名：An analysis of internal forces of finger enveloping grasp based on virtual truss model

作者：叶军[1];张新华[1]

机构：[1]绍兴文理学院机电系

年份：2001

卷号：18

期号：7

起止页码：17

中文期刊名：机械设计

外文期刊名：Machine Design

收录：CSTPCD、、北大核心2000、CSCD2011_2012、北大核心、CSCD

基金：浙江省自然科学基金资助项目 (50 0 0 30 )

语种：中文

中文关键词：手指包容抓取;内力;虚拟构架模型;机器人;机械手

外文关键词：Enveloping finger grasp, Internal force, Virtual truss model, Robot hand

中文摘要：在手指包容抓取物体时的内力分析中 ,基于虚拟构架模型来分析手指抓取内力 ,手指任一接触点处的内力通常能分解成该构架虚拟连接点两个 (二维平面 )或三个 (三维空间 )杆轴方向的分力 ,由虚拟构架内力 ,我们给出了二手指和三手指内力表达式。这种内力分析法为处理机器人手的抓力大小。

外文摘要：In the analysis of internal forces when object is grasped by enveloping fingers, the internal force of finger grasping is being analyzed on the base of virtual truss model. The internal forces at any contacting point of fingers can usually be decomposed into two(2D plane) or three(3D space) component forces along the direction of axle at the virtual joint point of that truss. The expression formulae of internal forces for hands with 2 or 3 fingers have been presented according to the inner force of virtual truss. This kind of inner force analytical method provided a theoretical foundation for handling the grasping force magnitude, the planning and optimizing of manipulation and the design of force control of the robot.