WEKO3
アイテム
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転がり接触を考慮した三次元把握の安定性解析
http://hdl.handle.net/10191/5922
http://hdl.handle.net/10191/5922ce87db1c-ec6e-4e84-87ff-f03bb0aeb6eb
名前 / ファイル | ライセンス | アクション |
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9_0220.pdf (592.4 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2008-04-08 | |||||
タイトル | ||||||
タイトル | 転がり接触を考慮した三次元把握の安定性解析 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | 転がり接触を考慮した三次元把握の安定性解析 | |||||
言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Grasp Stability | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Rolling Contact | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Cylindrical Object | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Spherical Object | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Virtual Stiffness | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Potential Energy | |||||
資源タイプ | ||||||
資源 | http://purl.org/coar/resource_type/c_6501 | |||||
タイプ | journal article | |||||
その他のタイトル | ||||||
その他のタイトル | Stability Analysis of 3-D Grasps by a Multifingered Hand with Rolling Contact | |||||
著者 |
山田, 貴孝
× 山田, 貴孝× 桜山, 岳史× 三村, 亘治× 舟橋, 康行 |
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著者別名 | ||||||
識別子 | 45589 | |||||
識別子Scheme | WEKO | |||||
姓名 | Yamada, Takayoshi | |||||
著者別名 | ||||||
識別子 | 45590 | |||||
識別子Scheme | WEKO | |||||
姓名 | Sakurayama, Takeshi | |||||
著者別名 | ||||||
識別子 | 45591 | |||||
識別子Scheme | WEKO | |||||
姓名 | Saha, Sushanta Kumar | |||||
著者別名 | ||||||
識別子 | 45592 | |||||
識別子Scheme | WEKO | |||||
姓名 | Mimura, Nobuharu | |||||
著者別名 | ||||||
識別子 | 45593 | |||||
識別子Scheme | WEKO | |||||
姓名 | Funahashi, Yasuyuki | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | This paper discusses stability of 3-D grasp considering rolling contact using potential energy approach. The synthesis of stable grasps is made by three-dimensional virtual spring which is fixed at the center of the fingertip. One spring is parallel to the normal and the others are parallel to the tangent plane at the contact. The kinematics of rolling contact equations (velocity and acceleration) between the object and finger are derived. Then, the stiffness matrix of the grasp is established. The derived stiffness matrix has six terms. The first three terms are due to stiffness of the three virtual springs respectively as well as remaining terms imply rotational stiffness which are influenced by curvatures, initial contact forces and contact position. The inverse problem, which is to determine the spring stiffness from the positive definiteness of stiffness matrix of the grasp system, can be also derived. Finally, some numerical examples are presented to illustrate the nature of the equations. | |||||
書誌情報 |
日本機械学会論文集. C編 en : 日本機械学会論文集. C編 巻 65, 号 631, p. 1062-1070, 発行日 1999-03 |
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出版者 | ||||||
出版者 | 日本機械学会 | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 03875024 | |||||
書誌レコードID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN00187463 | |||||
権利 | ||||||
権利情報 | 日本機械学会 | |||||
権利 | ||||||
権利情報 | 本文データは学会の許諾に基づくCiNiiからの複製である | |||||
著者版フラグ | ||||||
値 | publisher | |||||
異版である | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | URI | |||||
関連識別子 | http://ci.nii.ac.jp/naid/110002384745 |