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
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(a) An elastic model of a soft finger contact and (b) Multiple-contour representation of a soft contact patch
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Six-dimensional representation of a soft-robotic fingertip contact
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(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
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A grasp of a cylinder with two soft-robotic fingers
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Object grasped by three contacts
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(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




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