Affiliation:
1. Mechanical Engineering Department Stanford University Stanford, California 94305
2. Mechanical Engineering Department and The Robotics Institute Carnegie-Mellon University Pittsburgh, Pennsylvania 15213
Abstract
For practical reasons, compliant materials are often used on the gripping surfaces of robotic hands. Such materials are not well described by the Coulomb friction law or by simple point-contact or line-contact kinematics. In this paper, a shearing model is used to describe the contact friction. Models ofpointed, curved, flat, soft, and soft-curved fingertips are then developed and compared in terms of their contribu tion to the stiffness and stability of a simple grasp. There is a spectrum of contact conditions defined by the fingertip radius and contact area relative to the object size. This spectrum provides insights for designing and controlling robotic fingers.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software
Cited by
88 articles.
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