Object manipulation is the art of m

Object manipulation is the art of moving things. For example, an object can be moved from one point to another by a robot hand that is in contact with the object. The contacts serve two functions: they transmit forces and impose motion constraints on the object. The motion of the
robot is constrained by the interactions at the contacts for control of the motion of the object. If the robot hand has multiple fingers, there is a coordinated manipulation of the
object by the multiple fingers. Furthermore, the motion of the object may be constrained in some directions because of contact with fingers. The multi-fingered robot hand in contact with the object forms a closed loop. Hence, the fingers' effort and the contact forces and moments required for support and for moving the object are coupled. Any external force that acts on the object to bring about motion will cause a consequential readjustment of forces at the finger tips of the multi-fingered robot hand. The tips of the multi-fingered robot hand may deform in order to accommodate the object and prevent motion. In the robotics literature, the motion and force are related by the equation v=Cf [1], where v is the velocity of the object, C is the compliance of the fingers and f is the applied force from the fingers. C is a diagonal matrix, which means that motion is allowed only in particular directions.For example, in the compliance matrix C ¼ diag Cx; Cy; Cz, when Cz is set to zero, then motion is allowed in the x–y direction only. This analogy can be applied to fixturing so that a workpiece held
in a machining fixture can be considered as a special case within the same understanding. In the case of machining fixtures, the workpiece cannot accelerate on its own but is displaced when an external force, such as the machining force, acts on the workpiece. Since displacement is the main concern here for workpieces being machined, a displacement equation will be most appropriate.This paper examines the effect of fixture compliance and cutting conditions on workpiece stability and discusses the coordination of multiple-point contact of the fixture elements with the workpiece. The coordination problem is divided into a number of phases: determining the force by multiple fixture elements, determining the contact and fixture stiffness and fixture compliance and determining the workpiece displacement. The force is used for maintaining equilibrium and for generating the restoring force.Frictional constraints are incorporated in the force equation.

結果 (中文) 1:

对象操作是移动的东西的艺术。例如，一个对象能感动从一个点到另一种是接触到该物品的机器人手。联系人服务两大功能： 他们传递力和施加运动约束的对象上。议案机器人被受到限制的联系人的运动控制的对象的交互。如果机器人手具有多个手指，就协调的操作的由多个手指的对象。此外，物体的运动可能会用手指接触约束在一些方向。机器人多指灵巧手接触对象形式的闭环。因此，再加上根据手指的努力和接触力和支持和移动该对象所需的时刻。任何外力作用于对象带来的议案将导致机器人多指灵巧的手手指的力量作出相应调整。机器人多指灵巧的手的技巧可能以容纳该对象，防止运动变形。在机器人技术文献中，运动和力相关的方程 v = 的 Cf [1]，v 是对象的速度，C 是依从性的手指，，f 是从手指作用力。C 是一个对角矩阵，意味着运动允许仅在特定方向。例如，在柔度矩阵 C ¼ diag Cx ；Cy ；Cz，当 Cz 设置为零，则议案允许在 x — y 方向只。这个比喻可以应用于夹具，使工件举行in a machining fixture can be considered as a special case within the same understanding. In the case of machining fixtures, the workpiece cannot accelerate on its own but is displaced when an external force, such as the machining force, acts on the workpiece. Since displacement is the main concern here for workpieces being machined, a displacement equation will be most appropriate.This paper examines the effect of fixture compliance and cutting conditions on workpiece stability and discusses the coordination of multiple-point contact of the fixture elements with the workpiece. The coordination problem is divided into a number of phases: determining the force by multiple fixture elements, determining the contact and fixture stiffness and fixture compliance and determining the workpiece displacement. The force is used for maintaining equilibrium and for generating the restoring force.Frictional constraints are incorporated in the force equation.

結果 (中文) 3:

操作对象是事物的运动艺术。例如，一个对象可以由机器人的手接触对象从一点移动到另一个。联系人提供两个功能：他们传力对物体的运动约束。
机器人的运动约束的相互作用在物体的运动控制触点。如果机器人手多个手指，有一个协调操作的
对象由多个手指。此外，物体的运动被限制在一些方向，因为接触的手指。的机器人多指手与物体接触形成闭合回路。因此，手指的努力和接触力和力矩所需的支持和移动对象的耦合。任何外部力量作用于对象带来的运动将在多手指引起相应调整力量指机器人手。对多指手的技巧可能会变形，为了适应对象和预防运动。在机器人文学，运动和力的方程V = CF [ 1 ]相关，其中V是物体的速度，C是指符合F为施力从手指。C是一个对角矩阵，这意味着只有在特定方向运动是允许的。例如，在合规矩阵C¼CX CY；诊断；当CZ，CZ设置为零，然后运动是允许在X–Y方向。这个比喻可以应用于夹具使工件在机床夹具举行
可以看作一种特殊的情况下在相同的理解。在机床夹具的情况下，工件不能加快自己但流离失所当外力，如切削力，工件上的行为。由于位移是主要关注的问题在这里被加工工件的位移方程，将是最合适的。本文探讨了夹具的依从性的影响和切削条件对工件的稳定性和对与工件的夹具元件多点接触的协调。协调问题分为若干阶段：由多个夹具元件确定力，确定接触夹具刚度和依从性，确定夹具的工件位移。力量是用来保持平衡和产生恢复力。摩擦约束纳入力方程。