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Kinematic chains for robot hands: Grasp and rigidity

โœ Scribed by A. Srinath; A.C. Rao

Publisher
Elsevier Science
Year
2007
Tongue
English
Weight
410 KB
Volume
42
Category
Article
ISSN
0094-114X

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โœฆ Synopsis

A variety of kinematic chains exists which can be considered for application as robot hands. The designer must have a tool to know relatively which of them will possess greater grasp and rigidity. In this paper a numerical measure to estimate parallelism between the object and ground link (of the hand) is proposed. This measure can be used to compare the robot hands for grasp and rigidity.

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