Designed to take a hand and Ghltdadn Chndangshty cylinders

How to create a subtle move by the fingers of the fundamental issues in the study of robots is Chndangshty. In this research, a move cylinders by hand S·hangshty has been studied. According to the fingers moving on the cylinder move is intended Rolling, Rolling Contact Kinematics is obtained. Kinematics moving fingers in the space $ R ^ {6} $ using the exponential is obtained. According to the initial and final position of the object space the design direction, and then move the object to simulate the algorithm presented in a simple and efficient to maintain body stability is proposed. Considering that the body moves Shbhastatyk, the issue of optimizing forces and obtain optimal forces using convex optimization is done. Kinematics simulation software results in more fully with the mission defined for the robot shows consistency. Finally, with regard to the issue of dynamic constraint Rolling contact is obtained. Simulation results on dynamic models obtained confirm the accuracy of the model.