DYNAMICS AND CONTROL OF INTELLIGENT JIG WITH FUNCTION OF MANIPULATION

In order to develop intelligent jigs with a manipulation function, a n ew kind of mechanism is proposed. We call this mechanism the rotationa l base and single-jointed finger mechanism (RBSF mechanism). This mech anism does not have enough joints for active control of contact forces . Therefore, arbitrary acceleration and angular acceleration cannot be applied to workparts. To address this problem, kinematics, dynamics, motion planning, manipulation planning, and control of the manipulatio n by the RBSF mechanism are presented. The feasibility of the generati on of object acceleration and angular acceleration is discussed using the method for the linear complement problem. The results of simulatio ns and experiments are presented to show the validity of the proposed theory.