ΥΠΟΛΟΓΙΣΜΟΣ ΚΑΙ ΑΝΑΛΥΣΗ ΚΙΝΗΤΗΣ ΜΕΤΑΛΛΙΚΗΣ ΑΡΠΑΓΗΣ ΡΟΜΠΟΤ

IN THIS WORK THE INTERACTION OF A GRIPPER-OBJECT SYSTEM IS CONSIDERED. THE ANALYSIS DEALS WITH TWO TYPES OF GRIPPERS: MULTIFINGERED, SINGLE DEGREE OF FREEDOM AND MULTIFINGERED MULTIFREEDOM GRIPPERS. THE UNILATERAL CONTACT BEHAVIOUR OF THE SYSTEM IS CONSIDERED AND THE PROBLEM IS FORMULATED AS A LINEAR COMPLEMENTARITY PROBLEM. IN THE CASE WHERE THE FRICTION PHENOMENON IS INCLUDED, THE FORMULATION COVERS THE TWO TYPES OF FINGERS: HARD AND SOFT. THE CONCEPTS OF FORM-AND FORCE-CLOSURE ARE USED AS QUALITY CRITERION FOR THE FIRMITY OF THE GRIP. ALSO THE PROBLEM OF STATIC OPTIMAL CONTROL IS FORMULATED AND ITS APPLICATION IN THE OBJECT MANIPULATION IS GIVEN. FINALLY, THE ANALYSIS OF THE EFFECT OF THE IMPACT OF THE FINGER UPON THE OBJECT TO BE GRASPED, IS ILLUSTRATED AND IN THE SEQUEL THE INTERACTION BETWEEN THE GRIPPER AND THE OBJECT IS FORMULATED IN A DYNAMIC FORM.

Grantor dc:publisher

Aristotle University Of Thessaloniki (AUTH)

Year dc:date

1991

Author dc:creator

• Al-Fahed, Ahmad

• Dynamic analysis
• FIRM GRIP
• FORM AND FORCE CLOSURE
• LINEARCOMPLEMENTARITY PROBLEMS
• ONE FREEDOM FINGERS, MULTIFREEDOMS FINGERS
• Optimal control
• SOFT AND HARD FINGERS
• Static analysis
• UNILATERAL CONTACT-FRICTION
• VARIATIONAL INEQUALITIES
• ΑΝΙΣΟΤΗΤΕΣ ΜΕΤΑΒΟΛΩΝ
• Βέλτιστος έλεγχος
• ΔΑΚΤΥΛΑ ΕΝΟΣ ΒΑΘΜΟΥ ΕΛΕΥΘΕΡΙΑΣ
• ΔΑΚΤΥΛΑ ΠΟΛΛΑΠΛΩΝ ΕΛΕΥΘΕΡΙΩΝ
• ΜΑΛΑΚΟ ΔΑΚΤΥΛΟ, ΣΚΛΗΡΟ ΔΑΚΤΥΛΟ
• ΜΟΝΟΠΛΕΥΡΗ ΕΠΑΦΗ-ΤΡΙΒΗ
• ΜΟΡΦΟΕΓΚΛΕΙΣΜΟΣ, ΔΥΝΑΜΟΕΓΚΛΕΙΣΜΟΣ
• ΠΡΟΒΛΗΜΑΤΑ ΓΡΑΜΜΙΚΗΣ ΣΥΜΠΛΗΡΩΜΑΤΙΚΟΤΗΤΑΣ
• ΣΤΑΤΙΚΗ ΑΝΑΛΥΣΗ-ΔΥΝΑΜΙΚΗ ΑΝΑΛΥΣΗ
• ΣΤΕΡΕΑ ΣΥΓΚΡΑΤΗΣΗ (FIRM GRIP)
• Επιστήμες Μηχανικού και Τεχνολογία
• Επιστήμη Πολιτικού Μηχανικού
• Engineering and Technology
• Civil Engineering

Language dc:language

gre

Identifier

10.12681/eadd/1659

OAI identifier oai:identifier

oai:10442/1659