운동학에 기초한 로봇 손가락의 관절구조 평가 및 설계

Abstract

This paper presents an evaluation of joint con?gurations of a robotic ?nger based on kinematic analysis.The evaluation is based on an assumption that the current control methods for the ?ngers require that thecontact state speci?ed by the motion planner be maintained during manipulation. Various ?nger{jointcon?gurations have been evaluated for di??erent contact motions. In the kinematic analysis, the surface ofthe manipulated object was represented by B{spline surface and the surface of the ?nger was representedby cylinders and a half ellipsoid. Three types of contact motion, namely, 1) pure rolling, 2) twist{rolling,and 3) slide{twist{rolling are assumed in this analysis. The ?nger{joint con?guration best suited formanipulative motion is determined by the dimension of manipulation workspace. The evaluation hasshown that the human{like ?ngers are suitable for maintaining twist{rolling and slide{twist{rolling butnot for pure rolling. A ?nger with roll joint at its ?ngertip link, which is di??erent from human ?ngers,proved to be better for pure rolling motion because it can accommodate sideway motions of the object.Several kinds of useful ?nger{joint con?gurations suited for manipulating objects by ?ngertip surface areproposed.