ON OPTIMIZING THE KINEMATIC GEOMETRY OF A DEXTEROUS ROBOT FINGER

Authors
TISCHLER CR HUNT KH SAMUEL AE
Citation
Cr. Tischler et al., ON OPTIMIZING THE KINEMATIC GEOMETRY OF A DEXTEROUS ROBOT FINGER, The International journal of robotics research, 17(10), 1998, pp. 1055-1067
Citations number
20
Categorie Soggetti
Robotics & Automatic Control","Robotics & Automatic Control
Journal title
The International journal of robotics research → ACNP
ISSN journal
02783649
Volume
17
Issue
10
Year of publication
1998
Pages
1055 - 1067
Database
ISI
SICI code
0278-3649(1998)17:10<1055:OOTKGO>2.0.ZU;2-T
Abstract
Building on previous work, where we identified kinematic chains suitab le for application as dextrous robot hands, we now explore how to opti mize the kinematic geometry of a multiloop, multifreedom mechanism so that simple equations of movement are achieved. Specifically, we wish to find the mechanism geometry that provides the simplest expressions for the movement of the fingertip. Being based in geometry, the approa ch described here is applicable to a wide range of mechanism-design pr oblems.