On the mechanics of natural compliance in frictional contacts and its effect on grasp stiffness and stability

Amir Shapiro, Elon Rimon, Joel W. Burdick

Research output: Contribution to journalConference articlepeer-review

9 Scopus citations

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 languageEnglish
Pages (from-to)1264-1269
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2004
Issue number2
DOIs
StatePublished - 1 Jan 2004
Externally publishedYes
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: 26 Apr 20041 May 2004

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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