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Method of an Analogy in the Tasks of Contact of the Walking Robot and Grip with a Cylinderстатья
- Авторы: Golubev Yu F., Melkumova E.V.
- Журнал: Engineering Journal: Science and Innovation
- Год издания: 2022
- Первая страница: 229
- Последняя страница: 229
- DOI: 10.18698/2308-6033-2022-5-2182
- Аннотация: We consider the problem of brittle cylinder griping by the five manipulator fingers. Each finger contacts the cylinder in a single supporting point with Amontons — Coulomb friction or for two footholds spinning friction. Using numerical simulations and analytically, possible locations of the contact points on the cylinder, for which there is a kinetostatics problem solution when the cylinder is moved by five fingers, are received. There is an analogy of the equilibrium of a five-legged robot on a cylinder for the problems of transfer by a manipulator with a five-finger grip of a cylinder.
- Добавил в систему: Мелкумова Елена Вадимовна