Download Fundamentals Of Robotic Grasping And Fixturing (Series on by Caihua Xiong PDF

By Caihua Xiong

ISBN-10: 9812771832

ISBN-13: 9789812771834

ISBN-10: 9812771840

ISBN-13: 9789812771841

This booklet presents a primary wisdom of robot greedy and fixturing (RGF) manipulation. For RGF manipulation to turn into a technological know-how instead of an artwork, the content material of the ebook is uniquely designed for an intensive figuring out of the RGF from the multifingered robotic hand grab, simple fixture layout precept, and comparing and making plans of robot grasping/fixturing, and makes a speciality of the modeling and purposes of the RGF. in comparison with present courses, this quantity concentrates extra on summary formula, i.e. mathematical modeling of robot greedy and fixturing. hence, it will likely be a superb reference textual content for educational researchers, production and commercial engineers and a textbook for engineering graduate scholars. The ebook offers readers an total photograph and clinical foundation of RGF, the excellent details and mathematic versions of constructing and utilizing RGF in undefined, and offers long-term helpful info that is crucial and will be utilized by technical professions as an exceptional reference.

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Extra resources for Fundamentals Of Robotic Grasping And Fixturing (Series on Manufacturing Systems and Technology) (Series on Manufacturing Systems and Technology)

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In the example, a trifingered hand grasps a cylindriod object. The fingers are identical in construction, each with three revolute joints. The length of each link is 40 mm, 70 mm and 50mm, respectively. The radius of the semisphere fingertip is 10mm. 9Nm, respectively. 4. e. mcin = 0 , i = 1 , 2 and 3 in Eq. 6). Assume that the weight of the object to be grasped is 1kg. , ra and rb , we can construct the nonlinear mapping between the object size and the desired joint driven torques to firmly grasp the object without slippage.

44 Fundamentals of Robotic Grasping and Fixturing [7] Varma V. K. and Tasch U. A New Representation for a Robot Grasping Quality Measure. Robotica, 13, pp. 287-295. 1995. [8] Yoshikawa T. Manipulability of Robotic Mechanism. International Journal Robotics Research, 4, pp. 3-9. 1985. [9] Xiong C. H. and Xiong Y. L. The Determination of Fingertip Contact Positions of a Multifingered Robot Hand for 3-D Object. Proc. 2nd Asian Conf. , Beijing, pp. 342-347. 1994. [10] Xiong C. H. and Xiong Y. L. Stability Index and Contact Configuration Planning for Multifingered Grasp.

Nguyen defined the grasp stability on polygonal and polyhedral objects as the minimum distance from any point of contact to the edge of its independent regions [2]. Montana formulated a model of the dynamics of two-fingered grasps, where the state of a grasp is the position of the contact points. On the basis of this model, Montana derived a quantitative measure of contact grasp stability [3]. Xiong et al. proposed the quantitative 30 Chapter 3: Stability Index and Contact Configuration Planning 31 tests for force-closure grasps [10].

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Fundamentals Of Robotic Grasping And Fixturing (Series on Manufacturing Systems and Technology) (Series on Manufacturing Systems and Technology) by Caihua Xiong


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