A new approach to the modelling of power grasp
作者： Jean-Noël Gaborieau , Marc Arsicault , Jean-Paul Lallemand , Saïd Zeghloul
DOI: 10.1007/BFB0031453
关键词:
摘要: This paper presents a comprehensive study of the distribution forces made by an anthropomorphic mechanical hand taking hold object power grasp. First all, we experimental “object - human finger” type contact in order to define relations between normal forces, tangential and relative displacements finger. Secondly, realized 3D modelling polyarticulated system. Thirdly, closing effortlessly round was taken up. consisted determining coordinates points on joint phalanxes. Finally, devoted ourselves explaining formalism through which coordinates, generated at contacts wrench external efforts can be obtained.
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