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| Volume 24 Issue 9 - Publication Date: 1 September 2005 |
| Special Issue on the 11th International Symposium on Robotics Research |
| Design of the 100G Capturing Robot Based on Dynamic Preshaping |
| M. Higashimori, M. Kaneko Graduate School of Engineering, Hiroshima University, Higashi-Hiroshima, Japan, A. Namiki, and M. Ishikawa Graduate School of Information Science and Technology, The University of Tokyo, Bunkyo-ku, Tokyo, Japan |
| In this paper we discuss the design of the 100G capturing robot from the point of view of dynamic pre-shaping where all finger links make contact with the target object simultaneously. After briefly explaining the overview of the 100G capturing robot, we mathematically formulate the dynamic pre-shaping problem where we discuss how to determine the mechanical parameters, such as pulley positions, pulley radius, mass of finger link, and spring constant. We show a couple of experiments where the robot parameter is determined based on the dynamic re-shaping problem. |
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