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1、KinematicandForceAnalysisofJ.K.SalisburyArticulatedMechanicalHandsResearchAssistant.ThispaperdealswithseveralofthebasicconceptsinthekinematicsofmechanicalB.Rothhands.Severaldifferenttypesoffingercontactsaremodeledandusedinanumbersynthesisofthree-fingeredhands.Screwtheo
2、ryisusedtoshowwhichfingerProfessor.configurationsallowcompleteimmobilizationofthegrippedobjectrelativetotheDepartmentofMechanicalEngineering,fingers,andalsoallowforthemanipulationoftheobjectbythefingerswhileStanfordUniversity,maintainingthegrasp.Showninthispaperishowto
3、determinetheforcesappliedStanford,Calif.94305bythefingersontheobject,andalsohowtocomputethevelocitiesofthefingersandtheobject.Theanalysisdevelopedinthispaperisshowntoleadtoahandwiththreefingers,eachwiththreeturningjoints,andhavingfrictioncontactswithanobjectatthreesepa
4、ratepoints.1IntroductionThispaperdevelopsbasicprinciplesregardingthewillbeusefultomodeleachcontactasakinematicpair.Thekinematicsofarticulatedmechanicalhands.Experiencewithtypeofpairisdeterminedbythecontactingsurfacesonthemanipulatorshasindicatedtheneedforhandsthatcanad
5、aptfingerandthebody.Wewillconsiderthecaseswhenthetoavarietyofgraspsandaugmentamanipulator'scapabilitycontactoccursatpoints,alonglinesoronplanes.Takingallbyprovidingfinepositionandforcecontrol.possiblecombinationsofthesethreeelements,weobtainnineVariousstudieshavebeenma
6、detodevelopandimprovepossibletypesofpairings.handsforprostheticandteleoperatoruse.Crossley[1]Weareinterestedinallowingthegraspedbodytomovedevelopedathree-fingeredhand.Skinner[2],Rovetta,[3],relativetothetipsofthefingers,andthereforethreeoftheseMori[4],Okada[5],andother
7、shavedevelopedinterestingpairingscanonlybemaintainedinstantaneously.Sowecanmultifingeredhands.Inadditionanamazingvarietyofignorepoint-on-point,point-on-line,andline-on-pointgrippershasbeendesignedforindustrialuse[6].Hill[7]contactsonthegroundsthattheyareonlytransitorya
8、nddesigneda3-axissmallmotiondeviceforassemblycannotbemaintainedthroughafinitemotionoftheobjectoperations,andmuchworkh
