0
TECHNICAL PAPERS

Stiffness Modeling of the Soft-Finger Contact in Robotic Grasping

[+] Author and Article Information
Abdul Ghafoor

College of Electrical and Mechanical Engineering, National University of Sciences and Technology, Rawalpindi—46000, Pakistane-mail: Aghafoor@ceme.edu.pk

Jian S. Dai

Department of Mechanical Engineering, King’s College, University of London, Strand, London WC2R 2LS, United Kingdome-mail: Jian.Dai@KCL.ac.uk

Joseph Duffy

Department of Mechanical Engineering, Center for Intelligent Machines and Robotics, University of Florida, Gainesville, FL 32611-6300e-mail: cimar@cimar.me.ufl.edu

J. Mech. Des 126(4), 646-656 (Aug 12, 2004) (11 pages) doi:10.1115/1.1758255 History: Received May 01, 2002; Revised December 01, 2003; Online August 12, 2004
Copyright © 2004 by ASME
Topics: Stiffness , Robotics , Springs
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
(a) An elastic model of a soft finger contact and (b) Multiple-contour representation of a soft contact patch
Grahic Jump Location
Six-dimensional representation of a soft-robotic fingertip contact
Grahic Jump Location
(a) Variations of Ψrx values by changing m and n, (b) Variations of Ψry values by changing m and n, (c) indicates the effect of changes of number of point contact ‘m’ on Ψrz=∑nj=l ∑mi=l ((εjsin(iφ))2+(εjcos(iφ))2), values by changing m and n, and (d) Variation of stiffness coefficients by changing number of circles in a patch
Grahic Jump Location
A grasp of a cylinder with two soft-robotic fingers
Grahic Jump Location
Object grasped by three contacts
Grahic Jump Location
(a) Effect of preloading contact normal 1 on displacements, (b) Effect of preloading contact normal 2 on displacements, and (c) Effect of preloading contact normal 3 on displacements

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In