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利用两曲面间速度和姿态约束推导出了机器人手指和物体之间的纯滚动约束运动方程;讨论了手指所具有的自由度数对纯滚动操作的影响;发现为了使手指能以纯滚动的方式操作物体实现任意的运动,每个手指至少需要3个自由度;为多指手纯滚动操作的运动规划奠定了理论基础。
Based on the constraint of velocity and attitude between the two surfaces, the pure rolling constraint equations of motion between the robot’s finger and the object are deduced. The influence of the degree of freedom of the finger on the pure rolling operation is discussed. In order to make the finger operate the object in a purely rolling manner To achieve any movement, each finger requires at least 3 degrees of freedom; multi-fingered pure rolling operation of the motion planning laid the theoretical foundation.