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《Journal of Beijing Polytechnic University》 2003-03
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General Kinematic Solution and Mobility Analysis of Multi-fingered Hand Manipulation System

LI Jian-feng, ZHANG Yu-ru, WANG Xin-hua WEI Yuan-qian, WU Liang-sheng, WU Guang-zhong ( 1. College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100022, China; 2. Beijing University of Aeronautics and Astronautics, Beijing 100083, China )  
The authors explore the constitution of the general kinematic solution and the mobility analysis of multi-fingered hand manipulating systems. First, the kinematics equation of the multi-fingered hand manipulation is presented and the velocity spaces of object and finger joints are, respectively decomposed orthogonally by introducing appropriate inner products. Then a method suitable to all kinds of multi-fingered hand manipulating systems, and the general solution of structural kinematics formula is proposed. According to the obtained analytic expression formula of the general solution, the mapping relations between the velocity subspaces are analyzed, and the mobility analysis formulae of multi-fingered hand manipulating systems are given.
【Fund】: 国家自然科学基金(59985001)
【CateGory Index】: TP24
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【Citations】
Chinese Journal Full-text Database 1 Hits
1 Li Jianfeng ; Zhang Yuru ; Zhang Qixian (Beijing University of Aeronautics and Astronautics);DESIGN OF MULTI-FINGERED HAND WITH MANIPULATING DEXTERITY[J];Chinese Journal of Mechanical Engineering;2000-11
【Co-citations】
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1 Liu Yingchun;Yu Yueqing (College of Mechanical Engineering and Applied Electronics Technology, Beijing Polytechnic University, Beijing 100022 );Dynamics Modeling and Emulating of Flexible Coordinated Manipulators[J];Journal of Beijing Polytechnic University;2000-S1
2 CHEN Zhi-xiang, HUANG Yong, LU Zhen-yang, YIN Shu-yan ( College of Material Science and Engineering, Beijing Polytechnic University, Beijing 100022, China );Kinematic Solution of Arc Welding Robot System[J];Journal of Beijing Polytechnic University;2002-03
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4 CHEN You dong FAN Rui CHEN Wu yi CHEN Ding chang (Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation);Equation for Grinding Ball Nose Mill in the Five-Axis Machine[J];Journal of Beijing University of Aeronautics and Astronautics;2002-03
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1 SHI Guo-zhen, SUN Han-xu, CHENG Shi-duan, JIA Qing-xuan, ZHANG Yan-heng, WU Fan ( School of Computer Science and Technology, Beijing University of Posts and Telecommunications, Beijing 100876, China; Electronics Engineering Department, Beijing Electronic Science and Technique Institute, Beijing 100071, China; School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China; School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China);Research on the Hand-Eye Servo System Based on the Estimate-Compensate in Space Robot[A];[C];2006
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【Secondary Citations】
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1 LI Jianfeng\ ZHANG Yuru\ ZHANG Qixian (Robotics Institute, Beijing University of Aeronautics and Astronautics, Beijing\ 100083);DEXTERITY ANALYSIS ON MANIPULATING VELOCITIES OF FINGER MECHANISMS[J];ROBOT;1999-02
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