Paper Info
Title
On The Mechanics Of Natural Compliance In Frictional Contacts And Its Effect On Grasp Stiffness And Stability
Abstract
This paper considers the effect of natural material compliance on the stiffness and stability of frictional multi-contact grasps and fixtures. The contact preload profile is a key parameter in the nonlinear compliance laws governing such contacts. The paper introduces the Hertz-Walton contact compliance model which is valid for linear contact loading profiles. The model is specified in a lumped parameter form suitable for on-line grasping applications, and is entirely determined by the contact friction and by the material and geometric properties of the contacting bodies. The model predicts an asymmetric stiffening of the tangential reaction force as the normal load at the contact increases. As a result, the composite stiffness matrix of multi-contact grasps governed by natural compliance effects is asymmetric, indicating that these contact arrangements are not governed by any potential energy function. Based on the compliant grasp dynamics, the paper derives rules indicating which contact point locations and what preload profiles guarantee grasp and fixture stability. The paper also describes preliminary experiments supporting the contact model predictions.
Year
DOI
Venue
2004
10.1177/0278364912471690
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Keywords
Field
DocType
grasp natural compliance, grasp natural stiffness, grasp frictional stability, multi-contact friction compliance models
GRASP,Nonlinear system,Stiffening,Fixture,Stiffness,Reaction,Control engineering,Mechanics,Potential energy,Stiffness matrix,Mathematics,Structural engineering
Conference
Volume
Issue
ISSN
32
4
0278-3649
Citations 
PageRank 
References 
4
0.45
18
Authors
3
Name
Order
Citations
PageRank
Amir Shapiro110719.47
Elon Rimon21128157.34
Burdick, J.W.32988516.87