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題 名 | Topological Synthesis and Geometry Analysis for Hand-Object Mechanisms=機械手指機構之構造合成與幾何分析 |
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作 者 | 李志中; | 書刊名 | 中國機械工程學刊 |
卷 期 | 19:5 1998.10[民87.10] |
頁 次 | 頁517-523 |
分類號 | 446.011 |
關鍵詞 | 機械手指; 拓樸機構; 構造合成; 幾何分析; Mechanical hand; Number synthesis; Mobility; Graspability; Workspace; |
語 文 | 英文(English) |
中文摘要 | 本文旨在合成機械手指抓取物體時之拓樸構造並分析機構之工作空間與幾何限制 之關係。本研究除考慮機構之自由度外亦考慮機械手指能否抓緊物體的能力;據此,導出空 間及平面之機械手指抓取物體之拓樸構造,並歸納出此類機構之拓樸特性。本文並根據所合 成出之機構,分析其工作空間與幾何尺寸之關係,此一結果可協助設計者設計機械手指在抓 取物體時之幾何尺寸限制參考用。 |
英文摘要 | This paper presents a systematic approach for carrying out the topological synthesis of hand-object mechanisms. It takes into account the mobility and the gaspability of the hand system, both for spatial and planar hands. Certain observations were obtained while deriving the mobility equation. This paper also performs the workspace analysis of planar hand mechanisms. The result of analysis provides necessary conditions for the geometry constraints between the object and finger geometry in order to have minimum non-empty workspace. |
本系統中英文摘要資訊取自各篇刊載內容。