ROBOT HAND AND ROBOT

专利名称：ROBOT HAND AND ROBOT发明人：Kazuyuki Takahashi申请号：US11928603申请日：20071030

公开号：US20080114491A1公开日：20080515

专利附图：

摘要：A robot hand able to change the manner of holding an object while forceapplied from a plurality of finger mechanisms to the object is adjusted without using anauxiliary finger mechanism. When force Fis applied to object w from a certain fingermechanism among the plurality of finger mechanisms to is changed, the operation of

each finger mechanism is controlled such that a “contact” of each of the finger

mechanisms to in the object w and an “application force vector” from each of the fingermechanisms to to the object w satisfy a “stable gripping condition”. The “stablegripping condition” is a condition in which (1) the sum of each of forces and momentsapplied from the plurality of finger mechanisms to to the object w becomes zero, and (2)a slip index fr becomes minimum.

申请人：Kazuyuki Takahashi

地址：Wako-shi JP

国籍：JP

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