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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/119606


    Title: Contact force analysis on two-fingered robot grasping
    Authors: Chen, Jiun-Ru;Chen, Wei-En;Liu, C. H.;Wang, Yin-Tien;Lin, C. B.;Chen, Guan-Chen
    Keywords: Contact force analysis;inverse kinetics;tightening displacement;Coulomb's law of friction;mechanics of manipulators
    Date: 2020-10-14
    Issue Date: 2020-11-19 12:10:23 (UTC+8)
    Publisher: PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS
    Abstract: A procedure for inverse kinetic analysis on two hard fingers grasping a hard sphere is proposed in this study. Contact forces may be found for given linear and angular accelerations of a spherical body. Elastic force-displacement relations predicted by Hertz contact theory are used to remove the indeterminancy produced by rigid body modelling. Two types of inverse kinetic analysis may be dealt with. Firstly, as the fingers impose a given tightening displacement on the body, and carry it to move with known accelerations, corresponding grasping forces may be determined by a numerical procedure. In this procedure one contact force may be chosen as the principal unknown, and all other contact forces are expressed in terms of this force. The numerical procedure is hence very efficient since it deals with a problem with only one unknown. The solution procedure eliminates slipping thus only nonslip solutions, if they exist, are found. Secondly, when the body is moving with known accelerations, if the grasping direction of the two fingers is also known, then the minimum tightening displacement required for non-sliding grasping may be obtained in closed form. In short, the proposed technique deals with a grasping system that has accelerations, and in this study the authors show that
    indeterminancy may be used to reduce the complexity of the problem.
    Relation: Journal of Multi-body Dynamics
    DOI: 10.1177/1464419320964022
    Appears in Collections:[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Journal Article

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