Study on the Ability and Stability of Multi-fingered Hands Robot for Grasping Explosives

DOI

10.2991/cmes-15.2015.99How to use a DOI?

Keywords

Explosive, Multi-fingered hands, Grasping ability, Stability.

Abstract

The posture of the explosive disposal robot is changing constantly when it is working or carrying the explosives. The change of the posture results in the change of the loading direction and finally influences the grasping ability of multi-fingered hands. This paper focuses on the ability of the explosive disposal robot for grasping explosive in any posture so as to seek for the best one and analyze the relation between the different postures and the weight of the explosive. Meanwhile, it studies on the stability of the explosive grasped by the multi-fingered hands under the static and dynamic impact load and analyze the minimal normal force of the robot for steadily grasping under the dynamic impact load. Compared with the bearable maximal normal force of the explosive, it judges the stability and improves the safety and reliability of operation.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Haijun Mo
AU  - Zhisheng Lin
AU  - Jiajun Zhou
PY  - 2015/04
DA  - 2015/04
TI  - Study on the Ability and Stability of Multi-fingered Hands Robot for Grasping Explosives
BT  - Proceedings of the 2nd International Conference on Civil, Materials and Environmental Sciences
PB  - Atlantis Press
SP  - 353
EP  - 357
SN  - 2352-5401
UR  - https://doi.org/10.2991/cmes-15.2015.99
DO  - 10.2991/cmes-15.2015.99
ID  - Mo2015/04
ER  -