Contact force analysis on two-fingered robot grasping

• Main Authors: Jiun-Ru Chen, 陳俊儒
• Other Authors: 劉昭華
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/07259282828396734796

碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 99 === In this thesis a procedure for inverse dynamics analysis of two-fingered grasping of a sphere is proposed. 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 model. Two types of inverse dynamics analysis are performed for two-fingered grasping of a sphere. Firstly, as linear and angular accelerations, as well as the relative displacement vector of the finger tips, are given, grasping forces may be obtained by a numerical procedure. In this procedure one degree of indeterminancy produced by the equations of motion are utilized. Specifically, one particular 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 contains only one principal unknown. Secondly, for given linear and angular accelerations, if the relative grasping direction of the two fingers is also known, then the closed form solution for the minimum tightening displacement for sliding not to occur can be obtained.