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- W2943273563 abstract "For realizing a versatile, flexible robotic assembly system in the manufacturing domain, a versatile robotic hand which can grasp variously shaped parts accurately is essential. In our research, we assume a robotic hand with multiple parallel stick fingers, and aim to design an optimal mechanism of the hand as a versatile robotic hand for assembly tasks, which is as simple as possible with minimally necessary degrees of freedom and number of fingers. One of the minimum solution is a chuck-type hand. In this paper, as fundamental research toward optimal design of the hand, we address a chuck-type hand with three parallel stick fingers, and propose a geometrical method to find candidate positions of the fingers contacting a target part under the constraint of the hand mechanism. The validity and utility of the proposed method is verified through some numerical examples." @default.
- W2943273563 created "2019-05-09" @default.
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- W2943273563 date "2019-01-01" @default.
- W2943273563 modified "2023-09-26" @default.
- W2943273563 title "Geometrical Solution of Finger Arrangement Problem onto Target Part toward Design of Chuck-type Hand with Three Parallel Stick Fingers" @default.
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- W2943273563 doi "https://doi.org/10.1109/sii.2019.8700406" @default.
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