Abstract
The multi-fingered hand grasping system is viewed as a mechanical executive system. In order to evaluate the transmission characteristics of grasp mapping, the analytical representations of force transmission ratio and velocity transmission ratio are deduced, by taking advantage of the force-ellipsoid and the velocity-ellipsoid concepts defined in task space. Based on the requirements of transmission characteristics and grasp non-singularity, an index is put forward to measure the compatibility of grasp configuration. The optimal planning of grasp configurations for multi-fingered hand based on the index is carried out. An example is given to illustrate the validity of the index application.
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Liu, Q. (2008). A Task Compatibility Index for Multi-fingered Robot Hand Grasp Planning. In: Yan, XT., Jiang, C., Eynard, B. (eds) Advanced Design and Manufacture to Gain a Competitive Edge. Springer, London. https://doi.org/10.1007/978-1-84800-241-8_66
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DOI: https://doi.org/10.1007/978-1-84800-241-8_66
Publisher Name: Springer, London
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