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DEXTERITY ANALYSIS ON MANIPULATING VELOCITIES OF FINGER MECHANISMS
Author(s): 
Pages: 110-116
Year: Issue:  2
Journal: ROBOT

Keyword:  多指手手指机构开端钢缆传动速度操作灵巧性;
Abstract: 在简要介绍开端钢缆传动结构及其特征矩阵的基础上,将操作臂速度可操作性椭球的概念引入钢缆传动手指机构,给出了手指具有各向同性速度传递性质的条件.建立了开端钢缆传动中各缆速间的协调关系,并根据缆速空间与指端速度空间之间的映射关系,给出了建立手指指端操作速度矢量集合的方法.为评价指端实际的速度操作灵巧性,还提出新的度量指标,并结合算例介绍了对手指机构进行操作灵巧性分析的方法.
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