Analysis for an Active Robot Hand
For some manufacturing tasks, an arm and wrist provide sufficient dexterity while a passive gripper holds the object. When human beings insert large metal parts into fixtures, or use power tools such as grinders and air wrenches, they wrap their hands around the part or tool and make fine motions with their wrists. However, for more delicate manufacturing tasks a hand with actively controlled fingers may be needed.
KeywordsContact Area Grip Force Finger Motion Object Surface Rolling Resistance
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