SLIPPAGE DYNAMIC MODELING IN OBJECT GRASPING AND MANIPULATION WITH SOFT FINGERS

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FAKHARI AMIN; KESHMIRI MEHDI

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Journal: Modares Mechanical Engineering Year:2015 | Volume:15 | Issue:8 Page(s): 332-340

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Information Journal Paper

Title

SLIPPAGE DYNAMIC MODELING IN OBJECT GRASPING AND MANIPULATION WITH SOFT FINGERS

Author(s)

FAKHARI AMIN | KESHMIRI MEHDI | Issue Writer Certificate

Keywords

SOFT FINGERQ2

CONTACT INTERFACEQ2

CONTACT MODELINGQ2

FRICTION LIMIT SURFACEQ2

GRASPING AND MANIPULATIONQ2

Abstract

Using the SOFT FINGERs increases stability and dexterity in object GRASPING AND MANIPULATION. This is because of the enlarged CONTACT INTERFACE between SOFT FINGERs and object. Although slippage phenomenon has crucial role in robust grasping and stable manipulation, in most of the previous researches in the field of finger manipulation, it is assumed that the slippage between finger and object does not occur. In this paper, slippage dynamic modeling in object GRASPING AND MANIPULATION using SOFT FINGERs is studied. Because of the enlarged CONTACT INTERFACE between SOFT FINGERs and object, frictional moment along with tangential frictional force and normal force is applied on the CONTACT INTERFACE. Therefore, novel method for dynamic modeling of planar slippage using the concept of FRICTION LIMIT SURFACE is presented. In this method, equality and inequality relations of different states of planar contact are rewritten in the form of single second-order differential equation with variable coefficients. These coefficients are determined based on the slippage conditions. This kind of dynamic modeling of contact forces can be used for designing the controllers to prevent the undesired slippage. The method is used in study of slippage analysis of three-link SOFT FINGER manipulating rigid object on horizontal surface. In order to increase the accuracy of dynamic modeling of SOFT FINGER, dynamics of soft tip is integrated with the dynamic of finger linkage. Dynamic behavior of this system is shown in the numerical simulations.

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APA: Copy

FAKHARI, AMIN, & KESHMIRI, MEHDI. (2015). SLIPPAGE DYNAMIC MODELING IN OBJECT GRASPING AND MANIPULATION WITH SOFT FINGERS. MODARES MECHANICAL ENGINEERING, 15(8), 332-340. SID. https://sid.ir/paper/179082/en

Vancouver: Copy

FAKHARI AMIN, KESHMIRI MEHDI. SLIPPAGE DYNAMIC MODELING IN OBJECT GRASPING AND MANIPULATION WITH SOFT FINGERS. MODARES MECHANICAL ENGINEERING[Internet]. 2015;15(8):332-340. Available from: https://sid.ir/paper/179082/en

IEEE: Copy

AMIN FAKHARI, and MEHDI KESHMIRI, “SLIPPAGE DYNAMIC MODELING IN OBJECT GRASPING AND MANIPULATION WITH SOFT FINGERS,” MODARES MECHANICAL ENGINEERING, vol. 15, no. 8, pp. 332–340, 2015, [Online]. Available: https://sid.ir/paper/179082/en

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