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  1. 060 工学部
  2. 10 学術雑誌論文
  3. 10 査読済論文
  1. 0 資料タイプ別
  2. 01 学術雑誌論文

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/10191/5922
ce87db1c-ec6e-4e84-87ff-f03bb0aeb6eb
名前 / ファイル ライセンス アクション
9_0220.pdf 9_0220.pdf (592.4 kB)
Item type 学術雑誌論文 / Journal Article(1)
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

WEKO 45585

山田, 貴孝

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桜山, 岳史

× 桜山, 岳史

WEKO 45586

桜山, 岳史

Search repository
三村, 亘治

× 三村, 亘治

WEKO 45587

三村, 亘治

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舟橋, 康行

× 舟橋, 康行

WEKO 45588

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
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
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