STABILIZING EFFECTS OF INTERNAL STIFFNESS FOR SLIGHT SLIDING AT CONTACT POINTS

Authors
MIMURA N FUNAHASHI Y
Citation
N. Mimura et Y. Funahashi, STABILIZING EFFECTS OF INTERNAL STIFFNESS FOR SLIGHT SLIDING AT CONTACT POINTS, JSME international journal. Series C, dynamics, control, robotics, design and manufacturing, 36(4), 1993, pp. 455-462
Citations number
10
Categorie Soggetti
Engineering, Mechanical
Journal title
JSME international journal. Series C, dynamics, control, robotics, design and manufacturing → ACNP
ISSN journal
13408062
Volume
36
Issue
4
Year of publication
1993
Pages
455 - 462
Database
ISI
SICI code
1340-8062(1993)36:4<455:SEOISF>2.0.ZU;2-U
Abstract
The small sliding at contact points of fingertips is investigated in t his paper. The grasp stabilization method with internal stiffness is p roposed and its stabilizing effect is demonstrated for the planar thre e-fingered hand. The grasp stabilizing conditions for the internal sti ffness are determined and the optimal grasp in contrast to the convent ional point of view is discussed. Finally, the stabilizing effects usi ng the internal stiffness are illustrated by numerical examples.