Abstract
For an arbitrarily shaped object manipulated by a robot hand, this paper presents a procedure for analyzing the position and rotation ranges of the object, and a procedure for designing the kinematic parameters of a hand to meet given requirements on the motion ranges. Rotation dexterity index, dexterity charts, and a dexterity scalar characterizing both position range and rotation range are introduced for the performance evaluation of a robot hand. Least-square-error iteration and steps are detailed for the kinematic parameter determination of a robot hand.
Volume Subject Area:
15th Design Automation Conference
Topics:
Design,
Robots,
End effectors,
Rotation,
Kinematics,
Errors,
Performance evaluation,
Scalars
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Copyright © 1989 by The American Society of Mechanical Engineers
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