Study on Feasibility of Alignment of Parts for 2nd-order Form Closure Grasps with Circular Fingers Based on Dynamic Analysis
Author:
Affiliation:
1. Graduate School of Systems Engineering, Wakayama University
2. Faculty of Systems Engineering, Wakayama University
Publisher
The Robotics Society of Japan
Link
https://www.jstage.jst.go.jp/article/jrsj/42/3/42_42_291/_pdf
Reference12 articles.
1. 1) H. Dobashi, et al.: “Robust Grasping Strategy for Assembling Parts in Various Shapes,” Advanced Robotics, vol.28, no.15, pp.1005–1019, 2014.
2. 2) H. Dobashi, et al.: “Study on Jig-less Assembly of Shaft-shaped Parts with an Improved Versatile Hand with Parallel Stick Fingers,” Proc. of the 2023 IEEE/SICE International Symposium on System Integration, pp.606–612, 2023.
3. 3) F. Reuleaux: The Kinematics of Machinery. Macmillan, 1876.
4. 4) E. Rimon and J.W. Burdick: “Mobility of Bodies in Contact-Part I: A 2nd-Order Mobility Index for Multiple-Finger Grasp,” IEEE Transaction on Robotics and Automation, vol.14, no.5, pp.696–708, 1998.
5. 5) C. Luo, et al: “A Novel Curvature-based Method for Analyzing the Second-order Immobility of Frictionless Grasp,” Robotica, vol.30, no.4, pp.613–625, 2012.
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