1 دانشکده مهندسی مکانیک، دانشگاه صنعتی شریف
2 دانشکده مهندسی مکانیک - داشگاه صنعتی شریف
عنوان مقاله [English]
One of the most important issues in multi fingered gripper is dexterous maneuver. In this research work manipulation of a cylindrical object is considered via three fingered hand. Rolling contacts between the fingers and object are modeled properly in work space using exponential approach. Initial and final maneuver path in the involved work space is designed and the mission approaches very well for this purposes. Since the motion of the fingers for rolling task is in very finite course, a very powerful method considering quasi static approach is utilized here, and the simulation results show the stability performances of the controlled object obviously. Deriving of the optimal contact forces had been developed by convex optimization and verification of these forces are validated by MATLAB software. Finally dynamics behavior of the finger typed robot considering all contact kinematical restrictions and the other effects are tested and results are depicted well.