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Modeling and experiments of soft-finger contacts and friction limit surface in robotic grasping.

机译：机器人抓取中的软指接触和摩擦极限表面的建模和实验。

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摘要

A new theory in contact mechanics for modeling of soft fingers is proposed to define the relationship between normal force and radius of contact for soft fingers by considering general soft materials, including linear and nonlinearly elastic materials. The results show that the radius of contact is proportional to the normal force raised to the power of γ which ranges from 0 to ⅓; that is, the power-law equation a = cN γ where a is the radius of contact, N is the normal force, and c is a proportional constant. Experiments were conducted to validate the theory using artificial soft fingers made of various materials such as rubber and silicone. Results for human fingers are also compared.; We also investigate the influence of size and material properties of fingertips on the power-law equation for soft-finger contacts. Fingertips made of different materials of various sizes are tested, and the parametric relationship between normal forces and radii of contact is found. The experimental results validate the power-law equation for soft fingers with large deformation.; Finite element analysis is employed to further investigate the soft-finger contact mechanics. Three fingertips of the same material but with different sizes are analyzed. The numerical results are compared with experiments as well as the power-law theory.; The generalized model for contact pressure distribution is derived, and experiments are conducted using various fingertip configurations. The experimental results show that the Hertzian model of circular pressure distribution cannot be used in soft fingers with nonlinear elastic deformation.; The results of the power-law theory relating the contact radius with the normal force can be combined with contact pressure distribution to formulate the friction limit surface for anthropomorphic soft fingers. The results of the contact mechanics model and pressure distribution for soft fingers can facilitate the construction of numerical friction limit surface. (Abstract shortened by UMI.)
机译：提出了一种新的接触力学模型，用于对软手指进行建模，通过考虑一般的软材料（包括线性和非线性弹性材料）来定义软手指的法向力和接触半径之间的关系。结果表明，接触半径与提高到γ的幂的法向力成正比，其范围从0到＆frac13 ;;。即幂律方程 a = cN γ其中， a 是接触半径， N 是法向力， c 是比例常数。使用由各种材料（例如橡胶和硅树脂）制成的人造软手指进行了实验，以验证该理论。还比较了人手指的结果。我们还研究了指尖的大小和材料特性对软指接触的幂律方程的影响。测试了由各种尺寸的不同材料制成的指尖，并找到了法向力和接触半径之间的参数关系。实验结果验证了大变形软手指的幂律方程。有限元分析被用来进一步研究软手指的接触力学。分析了相同材料但大小不同的三个指尖。数值结果与实验以及幂律理论进行了比较。得出了接触压力分布的通用模型，并使用各种指尖配置进行了实验。实验结果表明，圆形弹性压力分布的赫兹模型不能用于具有非线性弹性变形的软手指。可以将接触半径与法向力相关的幂律理论的结果与接触压力分布相结合，以拟定拟人化软手指的摩擦极限表面。接触力学模型的结果和软手指的压力分布可以简化数值摩擦极限面的构造。 （摘要由UMI缩短。）

著录项

  • 作者

    Xydas, Nicholas.;

  • 作者单位

    State University of New York at Stony Brook.;

  • 授予单位 State University of New York at Stony Brook.;
  • 学科 Engineering Mechanical.; Applied Mechanics.
  • 学位 Ph.D.
  • 年度 2000
  • 页码 123 p.
  • 总页数 123
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 机械、仪表工业;应用力学;
  • 关键词

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