Stability analysis and optimal enveloping grasp planning of a deployable robotic hand

doi:10.1016/j.mechmachtheory.2020.104241

	Stability analysis and optimal enveloping grasp planning of a deployable robotic hand
	Li, Guotao1 ; Xu, Peng 3; Qiao, Shangling 2; Li, Bing 2,3
发表期刊	MECHANISM AND MACHINE THEORY
ISSN	0094-114X
	2021-04-01
卷号	158 页码:16
通讯作者	Li, Bing(libing.sgs@hit.edu.cn)
摘要	Enveloping grasp planning of the contact points is a challenging task in the field of robotics due to the complex constraints during grasp manipulation. In this paper, grasp stability analysis and optimal enveloping grasp planning of a deployable robotic hand (DRH) are studied. First, a method for computing the grasp stability evaluation index of the enveloping grasp is proposed based on the geometric analysis. Second, the effects of the friction coefficients and the deployment length of the DRH on the grasp stability of the enveloping grasp are analyzed and summarized. Third, an optimal enveloping grasp planning method is proposed to obtain the desired deployment length of the DRH and to achieve a firm grasp. Finally, the effectiveness and feasibility of the proposed optimal enveloping grasp planning method are validated through experiments. (C) 2021 Elsevier Ltd. All rights reserved.
关键词	Enveloping grasp Force-closure Optimization Grasp planning
DOI	10.1016/j.mechmachtheory.2020.104241
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[U1613201] ; National Key Research and Development Program of China ; Shenzhen Research and Development Program of China[JCYJ20200109112818703]
项目资助者	National Natural Science Foundation of China ; National Key Research and Development Program of China ; Shenzhen Research and Development Program of China
WOS研究方向	Engineering
WOS类目	Engineering, Mechanical
WOS记录号	WOS:000615930300006
出版者	PERGAMON-ELSEVIER SCIENCE LTD
七大方向——子方向分类	智能控制
引用统计	被引频次：9[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/43282
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Li, Bing
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Peoples R China 3.Harbin Inst Technol, Sch Mech Engn & Automat, Shenzhen 518055, Peoples R China
第一作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Li, Guotao,Xu, Peng,Qiao, Shangling,et al. Stability analysis and optimal enveloping grasp planning of a deployable robotic hand[J]. MECHANISM AND MACHINE THEORY,2021,158:16.
APA	Li, Guotao,Xu, Peng,Qiao, Shangling,&Li, Bing.(2021).Stability analysis and optimal enveloping grasp planning of a deployable robotic hand.MECHANISM AND MACHINE THEORY,158,16.
MLA	Li, Guotao,et al."Stability analysis and optimal enveloping grasp planning of a deployable robotic hand".MECHANISM AND MACHINE THEORY 158(2021):16.