Planar compliance realized with a hand composed of multiple 2-joint fingers
نویسندگان
چکیده
In this paper, a geometric construction based means of realizing any specified planar compliance for an object held by compliant hand is developed. It shown that the elastic behavior multi-serial parallel mechanism (a multi-finger hand) more simply and equivalently modeled fully-parallel dual . Synthesis procedures are developed realization arbitrary with hands using constraints on dual. Kinematic topologies addressed those associated having 2 or 3 fingers which each finger has joints. • Duality in topology extended to 1 components. Requirements spring locations determined stiffness matrix structure. Procedure identified grasp Hand considered:
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ژورنال
عنوان ژورنال: Mechanism and Machine Theory
سال: 2022
ISSN: ['1873-3999', '0094-114X']
DOI: https://doi.org/10.1016/j.mechmachtheory.2022.104847