Contact force analysis on two-fingered robot grasping

Author:

Chen Jiun-Ru1,Chen Wei-En2,Liu CH3ORCID,Wang Yin-Tien3,Lin CB3,Chen Guan-Chen3ORCID

Affiliation:

1. Aerospace Industrial Development Corporation, Kaohsiung City

2. Yuanyi Paint Co., Ltd, Taipei

3. Department of Mechanical and Electro-Mechanical Engineering, Tamkang University, New Taipei City

Abstract

A procedure for inverse kinetic analysis on two hard fingers grasping a hard sphere is proposed in this study. Contact forces may be found for given linear and angular accelerations of a spherical body. Elastic force-displacement relations predicted by Hertz contact theory are used to remove the indeterminancy produced by rigid body modelling. Two types of inverse kinetic analysis may be dealt with. Firstly, as the fingers impose a given tightening displacement on the body, and carry it to move with known accelerations, corresponding grasping forces may be determined by a numerical procedure. In this procedure one contact force may be chosen as the principal unknown, and all other contact forces are expressed in terms of this force. The numerical procedure is hence very efficient since it deals with a problem with only one unknown. The solution procedure eliminates slipping thus only nonslip solutions, if they exist, are found. Secondly, when the body is moving with known accelerations, if the grasping direction of the two fingers is also known, then the minimum tightening displacement required for non-sliding grasping may be obtained in closed form. In short, the proposed technique deals with a grasping system that has accelerations, and in this study the authors show that indeterminancy may be used to reduce the complexity of the problem.

Publisher

SAGE Publications

Subject

Mechanical Engineering,Condensed Matter Physics

Cited by 1 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Part dynamics in the intermediate regime of a linear vibratory feeder;Proceedings of the Institution of Mechanical Engineers, Part E: Journal of Process Mechanical Engineering;2022-01-06

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