A contact stress model for multifingered grasps of rough objects

Author

Sinha, Pramath Raj ; Abel, Jacob M.

Author_Institution

Dept. of Mech. Eng. & Appl. Mech., Pennsylvania Univ., Philadelphia, PA, USA

Volume

8

Issue

1

fYear

1992

fDate

2/1/1992 12:00:00 AM

Firstpage

7

Lastpage

22

Abstract

A model that utilizes a contact-stress analysis of an arbitrarily shaped object in a multifingered grasp is developed. The fingers and the object are all treated as elastic bodies, and the region of contact is modeled as a deformable surface patch. The relationship between the friction and normal forces is now nonlocal and nonlinear in nature and departs from the Coulomb approximation. The nature of the constraints arising out of conditions for compatibility and static equilibrium motivated the formulation of the model as a nonlinear constrained minimization problem. The model is able to predict the magnitude of the inwardly directed normal forces and both the magnitude and direction of the tangential (friction) forces at each finger/object interface for grasped objects in static equilibrium. Examples in two and three dimensions are presented along with an application of the model to the grasp transfer maneuver

Keywords

distributed parameter systems; elasticity; large-scale systems; minimisation; robots; compatibility; contact region; contact-stress analysis; deformable surface patch; elastic bodies; finger/object interface; friction; grasp transfer maneuver; multifingered grasps; nonlinear constrained minimization problem; normal forces; robot; rough objects; static equilibrium; tangential forces; Control systems; Deformable models; Fingers; Friction; Jacobian matrices; Manipulators; Mechanical engineering; Robotics and automation; Stress; Surface treatment;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.127235

Filename

127235