Sti ness Analysis for E ective Peg - In / Out - Hole Tasks Using Multi - ngered Robot Hands

This paper deals with sti ness analysis for e ective peg-in/out-hole tasks using multingered robot hand without internger coupling. We rst observe the fact that some of coupling sti ness elements cannot be planned arbitrary. Then, we analyze the conditions of the speci ed sti ness matrix in the operational space to successfully and more e ectively achieve the given peg-in/out-hole tasks. It is concluded that the location of compliance center on the peg and the coupling sti ness element between the translational and the rotational direction play important roles for successful peg-in/out-hole tasks. Simulation results are included to verify the feasibility of the analytic results.