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    Please use this identifier to cite or link to this item: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/96180

    Title: Contact Force Analysis in Static Two-fingered Robot Grasping
    Authors: I Cheng;C. H. Liu;Yin-Tien Wang
    Contributors: 淡江大學機械與機電工程學系
    Keywords: Robot Grasping
    Date: 2013-08-05
    Issue Date: 2014-03-05 16:39:44 (UTC+8)
    Publisher: NY: American Society of Mechanical Engineers
    Abstract: Static grasping of a spherical object by two robot fingers is studied in this paper. The fingers may be rigid bodies or elastic beams, they may grasp the body with various orientation angles, and the tightening displacements may be linear or angular. Closed-form solutions for normal and tangential contact forces due to tightening displacements are obtained by solving compatibility equations, force-displacement relations based on Hertz contact theory, and equations of equilibrium. Solutions show that relations between contact forces and tightening displacements depend upon the orientation of the fingers, the elastic constants of the materials, and area moments of inertia of the beams.
    Relation: Proceedings of the ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2013, 9p.
    Appears in Collections:[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Proceeding

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