DocumentCode :
2239346
Title :
A polyhedral bound on the indeterminate contact forces in 2D fixturing and grasping arrangements
Author :
Rimon, Elon ; Burdick, Joel W. ; Omata, Tatsuo
Author_Institution :
Dept. of ME, Technion, Haifa, Israel
Volume :
2
fYear :
2003
fDate :
14-19 Sept. 2003
Firstpage :
1817
Abstract :
This paper considers 2D contact arrangements where several bodies grasp, fixture, or support an object via frictional point contacts. Within a strictly rigid body modelling paradigm, when an external wrench (i.e. force and torque) acts on the object, the reaction forces at the contacts are indeterminate and span an unbounded linear space. This paper analyzes the contact forces within a quasi-rigid body framework that keeps the desirable geometric properties of rigid body modelling, while also includes more realistic physical effects. Using two principles governing the mechanics of quasi-rigid contacts, we show that for any given external wrench acting on the object, the contact forces lie in a bounded polyhedral set. The polyhedral bound depends on the external wrench, the grasp\´s geometry, and the preload forces. But it does not depend on any detailed knowledge of the contact mechanics parameters. The bound is useful for "robust" grasp and fixture synthesis. Given a collection of external wrenches that may act on an object, the grasp\´s geometry and preload forces can be chosen such that all of these external wrenches would be automatically supported by the contacts.
Keywords :
dexterous manipulators; fixtures; force control; graph theory; manipulator dynamics; manipulator kinematics; 2D contact arrangements; 2D fixturing; contact mechanics parameters; dexterous manipulators; external wrenches; frictional point contacts; geometric properties; indeterminate contact forces; manipulator dynamics; manipulator kinematics; modelling paradigm; polyhedral bound; quasi-rigid contacts; rigid body modelling; robust grasp synthesis; unbounded linear space; Fixtures; Force control; Force measurement; Force sensors; Geometry; Material properties; Solid modeling; Torque;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN :
1050-4729
Print_ISBN :
0-7803-7736-2
Type :
conf
DOI :
10.1109/ROBOT.2003.1241859
Filename :
1241859
Link To Document :
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