Kinematics of finger with rolling contact

• 作 者: 熊蔡华 李友福 熊有伦 张卫平
• 机 构: School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 4
• 出 处: Progress in Natural Science
• 发表日期: 1999年03期
• 关键词: finger rolling constraint freedom manipulation normalized permit rotation arbitr

Using the relationships of velocity constraint and the orientation constraint between fingertip surface and body surface, the equations of pure rolling contact over the surfaces of two contacting objects are derived The ef-fects of the degrees of freedom (d o. f ) of the finger on the manipulation with rolling contact are discussed. It is found that each finger requires a minimum of 3 d.o f. in order to permit general motion of the body.

Using the relationships of velocity constraint and the orientation constraint between fingertip surface and body surface, the equations of pure rolling contact over the surfaces of two contacting objects are derived The ef-fects of the degrees of freedom (d o. F) of the finger on the manipulation with rolling contact are discussed. It is found that each finger requires a minimum of 3 do f. in order to permit general motion of the body.