Manipulator Grasping and Pushing Operations

摘要

The primary goal of this research is to develop theoretical tools for analysis, synthesis, and application of primitive manipulator operations. The primary method is to extend an apply traditional tools of classical mechanics. The results are of such a general nature that they address many different aspects of industrial robotics, including effector and sensor design, planning and programming tools, and design of auxiliary equipment. Some of the manipulator operations studied are: Grasping an object: The object will usually slide and rotate during the period between first contact and prehension; Placing an object: The object may slip slightly in the fingers upon contact with the table as the base aligns with the table; and Pushing: Often the final stage of mating two parts involves pushing one object into the other. In each of these operations the motion of the object is determined partly by the manipulator and partly by frictional forces. hence the theoretical analysis focuses on the problem of partially constrained motion with friction.