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Method of an Analogy in the Tasks of Contact of the WalkingRobot and Grip with Five Points of Support with a Cylinderстатья
- Авторы: Golubev Yu F., Melkumova E.V.
- Сборник: УСТОЙЧИВОСТЬ И КОЛЕБАНИЯ НЕЛИНЕЙНЫХ СИСТЕМ УПРАВЛЕНИЯ (конференция Пятницкого) Материалы XVI Международной конференции
- Год издания: 2022
- Место издания: Москва, ИПУ РАН
- Первая страница: 149
- Последняя страница: 149
- Аннотация: We consider the problem of brittle cylinder griping by the five manipulator fingers. Each finger contacts the cylinder in a single supportingpoint with Amontons-Coulomb friction or for two footholdsspinning friction. Using numerical simulations and analytically, possiblelocations of the contact points on the cylinder, for which there is akinetostatics problem solution when transferring the cylinder with two,three, four and five fingers, are received. There is an analogy of theequilibrium of a five-legged robot on a cylinder for the problems of transferby a manipulator with a five-finger grip of a cylinder.
- Добавил в систему: Мелкумова Елена Вадимовна