Dynamics and Control of Intelligent Jig with Function of Manipulation

摘要

In order to develop intelligent jigs with a manipulation function, a new kind of mechanism is proposed. We call this mechanism the rotational base and single-jointed finger mechanism (RBSF mechanism). This mechanism does not have enough joints for active control of contact forces. Therefore, arbitrary acceleration and angular acceleration cannot be applied to workparts. To address this problem, kinematics, dynamics, motion planning, manipulation planning, and control of the manipulation by the RBSF mechanism are presented. The feasibility of the generation of object acceleration and angular acceleration is discussed using the method for the linear complement problem. The results of simulations and experiments are presented to show the validity of the proposed theory.