Abstract
The mechanics of friction and compliance in multi-contact arrangements is key to understanding and predicting grasp stability and dynamic response to external loads. This paper introduces a comprehensive model for the nonlinear force-displacement relationship at a frictional contact. The model is given in an analytic lumped parameter form suitable for on-line grasping applications, and is entirely determined by material and geometric properties of the contacting bodies. The force-displacement law predicts a nonlinear tangential stiffening as the normal load increases. As a result, the composite stiffness matrix of a frictional grasp is asymmetric, indicating that such grasps are not governed by any potential energy. The consequences for grasp stability are investigated. We formulate a rule for preloading frictional grasps which guarantees stable response at the individual contacts. Then we obtain a criterion for selecting contact points which guarantees overall grasp stability. The synthesis rule and its effect on grasp stability is illustrated with a simple 2D example.
| Original language | English |
|---|---|
| Pages (from-to) | 1264-1269 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2004 |
| Issue number | 2 |
| DOIs | |
| State | Published - 1 Jan 2004 |
| Externally published | Yes |
| Event | Proceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States Duration: 26 Apr 2004 → 1 May 2004 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering