Design of the 100G Capturing Robot Based on Dynamic Preshaping
نویسندگان
چکیده
In this paper we discuss the design of the 100G capturing robot from the point of view of dynamic pre-shaping where all finger links make contact with the target object simultaneously. After briefly explaining the overview of the 100G capturing robot, we mathematically formulate the dynamic pre-shaping problem where we discuss how to determine the mechanical parameters, such as pulley positions, pulley radius, mass of finger link, and spring constant. We show a couple of experiments where the robot parameter is determined based on the dynamic pre-shaping problem. KEY WORDS—high speed capturing, wire drive robot, mechanism design, preshaping
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عنوان ژورنال:
- I. J. Robotics Res.
دوره 24 شماره
صفحات -
تاریخ انتشار 2005