Grasp stability analysis of two objects with both friction and frictionless contacts in two dimensions

Author

Yamada, Takayoshi ; Mimura, Nobuharu ; Funahashi, Yasuyuki

Author_Institution

Dept. of Mech. Eng., Nagoya Inst. of Technol.

fYear

2005

fDate

7-9 Nov. 2005

Firstpage

285

Lastpage

290

Abstract

This paper analyzes grasp stability of two objects with both friction and frictionless contacts in two dimensions. In the grasp of two objects, there exist multiple contact points which mean one contact point between two objects and plural contact points between objects and fingers. In the previous work, all these contact points are assumed to be either only with friction or only without friction. This paper discusses more practical grasp, in which there exist both friction contacts and frictionless contacts. In this case, both rolling motions and sliding motions occur due to friction contact and frictionless contact in the grasp system simultaneously. The grasp stability is evaluated by the potential energy stored in the grasp system. By using numerical examples, effect of friction is demonstrated

Keywords

dexterous manipulators; rolling friction; sliding friction; stability; friction contact; frictionless contact; grasp stability analysis; multiple contact points; potential energy; rolling motions; sliding motions; Cybernetics; Fingers; Friction; Mechanical engineering; Potential energy; Robot kinematics; Shape; Springs; Stability analysis;

fLanguage

English

Publisher

ieee

Conference_Titel

Micro-NanoMechatronics and Human Science, 2005 IEEE International Symposium on

Conference_Location

Nagoya

Print_ISBN

0-7803-9482-8

Type

conf

DOI

10.1109/MHS.2005.1590005

Filename

1590005