Manipulator Operating with the Two-finger Grip for Fragile Cylinders

Abstract

There is an analogy of the equilibrium of a robot on a cylinder for the problems of transfer by a manipulator of a rough cylinder or for robot which legs suspension points are on the cylinder surface. For the cases of one, two and three supporting points the motion equations are different. The difference between the grip and walking robot is in the sign of inequalities due to unilateral constraint. 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, point C. The analogy 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 humanoid robot, adheres to the end of the other finger. Similarly holds a glass.