Grasp stability analysis of multiple objects including contact surface geometry in 3D

Author

Yamada, Tomoaki ; Yamamoto, Hiroshi

Author_Institution

Dept. of Mech. Eng., Gifu Univ., Gifu, Japan

fYear

2013

fDate

4-7 Aug. 2013

Firstpage

36

Lastpage

43

Abstract

This paper analyzes grasp stability of multiple objects in three dimensions. The stability is investigated from the potential energy method in which the grasp is replaced with translational linear virtual spring model. A grasp stiffness matrix is analytically derived by including contact surface geometry (metric tensor, curvature and torsion) and contact condition (frictionless sliding contact and frictional rolling contact). The grasp stability is evaluated by using the eigenvalues of the matrix, and the displacement motion direction of the grasp is derived by its corresponding eigenvectors.

Keywords

eigenvalues and eigenfunctions; elasticity; geometry; manipulator dynamics; matrix algebra; motion control; stability; contact condition; contact surface geometry; displacement motion direction; grasp stability analysis; grasp stiffness matrix; matrix eigenvalues; multiple objects; three dimensions; translational linear virtual spring model; Eigenvalues and eigenfunctions; Potential energy; Springs; Stability criteria; Thumb; Grasp stability; contact surface geometry; grasp stiffness matrix; multiple spatial objects; translational linear spring model;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2013 IEEE International Conference on

Conference_Location

Takamatsu

Print_ISBN

978-1-4673-5557-5

Type

conf

DOI

10.1109/ICMA.2013.6617890

Filename

6617890