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DOI 10.21662
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Golubev Yu.F., Melkumova E.V. Transfer by a Manipulator with a Three-finger Grasp of a Brittle Cylinder. Multiphase Systems. 14 (2019) 3. 202–207.
2019. Vol. 14. Issue 3, Pp. 202–207
DOI: 10.21662/mfs2019.3.026
Transfer by a Manipulator with a Three-finger Grasp of a Brittle Cylinder
Golubev Yu.F.∗,∗∗, Melkumova E.V.∗∗
Keldysh Institute of Applied Mathematics, RAS, Moscow
∗∗M.V. Lomonosov State University, Moscow


We consider the problem of the brittle cylinder grasping by the n fingers of the robot-manipulator. Each finger contacts the cylinder in a single supporting point with Amontons-Coulomb or for two footholds spinning friction. Using numerical simulations and analytically, possible locations of contact points on the cylinder, for which there is a kinetostatics problem solution when the cylinder is moved by three fingers, are received. By the analogy of the equilibrium of a three-legged robot on a cylinder for the problems of transfer by a manipulator with a three-finger grasp of a cylinder or for a robot on a surface which legs suspension points are on a cylinder surface. Two supporting points can be on one diameter in the cylinder base. Or because of friction on the opposite sides of the robot center of mass or giving in the dynamics, it is point C. The analogy of the problem is oscillations in the vicinity of the stable equilibrium one cylinder on another. The cylinder lies on one finger rectangular to it, of the hand of a hu-manoid robot, adheres to the end of the other finger. Similarly holds the glass. Robot can hold the horizontal cylinder by three fingers. Let one of the points is in vertical plane containing cylinder axis and another are in the plane orthogonal to the axis. The supporting points are on the external surface of the lower semi-cylinder and the cylinder center mass is in the footholds triangle. The supporting set is divided into two subsets.


three-finger grasp,
Amontons-Coulomb friction,
three-legged robot

This work was supported by the Russian Foundation for Basic Researches (grant no. 19 − 01 − 00123 A).


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