Affiliation:
1. Department of Mechanical and Manufacturing Engineering University of Melbourne Parkville, Victoria, Australia 3052
Abstract
Building on previous work, where we identified kinematic chains suitable for application as dextrous robot hands, we now explore how to optimize the kinematic geometry of a multiloop, multifree dom mechanism so that simple equations of movement are achieved. Specifically, we wish to find the mechanism geometry that provides the simplest expressions for the movement of the fingertip. Being based in geometry, the approach described here is applicable to a wide range of mechanism-design problems.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software
Cited by
12 articles.
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