東華大學圖書館 |

Language: English

Help

回圖書館首頁

手機版館藏查詢

Back

Switch To: Labeled | MARC Mode | ISBD

THE MECHANICS AND PLANNING OF ENVELO...

TRINKLE, JEFFREY COATES,

Linked to FindBook

Google Book

Amazon

博客來

THE MECHANICS AND PLANNING OF ENVELOPING GRASPS /

Record Type:	Electronic resources : Monograph/item
Title/Author:	THE MECHANICS AND PLANNING OF ENVELOPING GRASPS // JEFFREY COATES TRINKLE.
Author:	TRINKLE, JEFFREY COATES,
Description:	1 electronic resource (213 pages)
Notes:	Source: Dissertations Abstracts International, Volume: 48-07, Section: B.
Contained By:	Dissertations Abstracts International48-07B.
Subject:	Systems design. -
Online resource:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=8725215
ISBN:	9798206425932

THE MECHANICS AND PLANNING OF ENVELOPING GRASPS /
TRINKLE, JEFFREY COATES,

THE MECHANICS AND PLANNING OF ENVELOPING GRASPS /JEFFREY COATES TRINKLE. - 1 electronic resource (213 pages)

Source: Dissertations Abstracts International, Volume: 48-07, Section: B.

An enveloping grasp is one for which the fingers surround the object and hold it securely against the palm. It is the kind of grasp that we use to hold the steering wheel of our car or to hold a wet ice cube. In the case of the ice cube and other slippery objects, we must use an enveloping grasp, because friction forces are small. In this dissertation we are particularly interested in achieving an enveloping grasp of an object by manipulating it away from its supporting surface with an articulated hand. To solve the problem, we make several extensions to the firmly established kinematic equations of grasping and develop a linear program to predict the instantaneous motion of a slippery object during its manipulation. We define the liftability regions for any two-dimensional object and develop a graphical method to determine them. The liftability regions are used to select the initial grasp of the object. Then lift planning strategies determine how to manipulate the object from its initial position into an enveloping grasp in the hand. After achieving envelopment, the grasp is adjusted, maintaining its enveloping character while optimizing an appropriate objective function. These three planning steps, initial grasp selection, lift planning, and grip adjustment are used to determine a grasping plan. The motion linear program is used as the basis of a simulator which solves the equations of motion of the manipulated object. Given a grasp plan, the simulator is used to verify its validity.

English

ISBN: 9798206425932Subjects--Topical Terms:

3433840
Systems design.

THE MECHANICS AND PLANNING OF ENVELOPING GRASPS /
LDR:02627nmm a22003373i 4500 001 2434362
005 20250915135054.5
006 m o d
007 cr|nu||||||||
008 261011s1987 miu||||||m |||||||eng d
020 $a 9798206425932
035 $a (MiAaPQD)AAI8725215
035 $a AAI8725215
040 $a MiAaPQD $b eng $c MiAaPQD $e rda
100 1 $a TRINKLE, JEFFREY COATES, $e author. $3 3824322
245 1 4 $a THE MECHANICS AND PLANNING OF ENVELOPING GRASPS / $c JEFFREY COATES TRINKLE.
264 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 1987
300 $a 1 electronic resource (213 pages)
336 $a text $b txt $2 rdacontent
337 $a computer $b c $2 rdamedia
338 $a online resource $b cr $2 rdacarrier
500 $a Source: Dissertations Abstracts International, Volume: 48-07, Section: B.
500 $a Publisher info.: Dissertation/Thesis.
502 $b Ph.D. $c University of Pennsylvania $d 1987.
520 $a An enveloping grasp is one for which the fingers surround the object and hold it securely against the palm. It is the kind of grasp that we use to hold the steering wheel of our car or to hold a wet ice cube. In the case of the ice cube and other slippery objects, we must use an enveloping grasp, because friction forces are small. In this dissertation we are particularly interested in achieving an enveloping grasp of an object by manipulating it away from its supporting surface with an articulated hand. To solve the problem, we make several extensions to the firmly established kinematic equations of grasping and develop a linear program to predict the instantaneous motion of a slippery object during its manipulation. We define the liftability regions for any two-dimensional object and develop a graphical method to determine them. The liftability regions are used to select the initial grasp of the object. Then lift planning strategies determine how to manipulate the object from its initial position into an enveloping grasp in the hand. After achieving envelopment, the grasp is adjusted, maintaining its enveloping character while optimizing an appropriate objective function. These three planning steps, initial grasp selection, lift planning, and grip adjustment are used to determine a grasping plan. The motion linear program is used as the basis of a simulator which solves the equations of motion of the manipulated object. Given a grasp plan, the simulator is used to verify its validity.
546 $a English
590 $a School code: 0175
650 4 $a Systems design. $3 3433840
650 4 $a Systems science. $3 3168411
690 $a 0790
710 2 $a University of Pennsylvania. $e degree granting institution. $3 3767694
773 0 $t Dissertations Abstracts International $g 48-07B.
790 $a 0175
791 $a Ph.D.
792 $a 1987
856 4 0 $u https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=8725215