Negative Stiffness Analysis and Regulation of In-Hand Manipulation with Underactuated Compliant Hands
Wenrui Chen,Qiang Diao,Yaonan Wang,Xiaodong Zhou,Qiang Zhang,Cuo Yan,Zhiyong Li,Wenrui Chen,Qiang Diao,Yaonan Wang,Xiaodong Zhou,Qiang Zhang,Cuo Yan,Zhiyong Li
This paper addresses the generation mechanism and avoidance method of negative stiffness during in-Hand manipulation with underactuated compliant hands. Firstly, a planar hand with two three-jointed fingers manipulating a rectangular is set, and a quasi-static underactuated operation model is established. Secondly, based on this simulation model, we investigated the stiffness evolution during in-h...
