Shapiro, Amir and Rimon, Elon and Burdick, Joel W. (2004) On the Mechanics of Natural Compliance in Frictional Contacts and its Effect on Grasp Stiffness and Stability. In: 2004 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 1264-1269. ISBN 0-7803-8232-3 http://resolver.caltech.edu/CaltechAUTHORS:20111013-115128547
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The mechanics of friction and compliance in multi-contact arrangements is key to understanding and predicting grasp stability and dynamic response to external loads. This paper introduces a comprehensive model for the nonlinear force-displacement relationship at a frictional contact. The model is given in an analytic lumped parameter form suitable for on-line grasping applications, and is entirely determined by material and geometric properties of the contacting bodies. The force-displacement law predicts a nonlinear tangential stiffening as the normal load increases. As a result, the composite stiffness matrix of a frictional grasp is asymmetric, indicating that such grasps are not governed by any potential energy. The consequences for grasp stability are investigated. We formulate a rule for preloading frictional grasps which guarantees stable response at the individual contacts. Then we obtain a criterion for selecting contact points which guarantees overall grasp stability. The synthesis rule and its effect on grasp stability is illustrated with a simple 2D example.
|Item Type:||Book Section|
|Additional Information:||© 2004 IEEE. Issue Date: April 26-May 1, 2004; Date of Current Version: 27 September 2004.|
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|Official Citation:||Shapiro, A.; Rimon, E.; Burdick, J.W.; , "On the mechanics of natural compliance in frictional contacts and its effect on grasp stiffness and stability," Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on , vol.2, no., pp. 1264- 1269 Vol.2, April 26-May 1, 2004 doi: 10.1109/ROBOT.2004.1307998|
|Usage Policy:||No commercial reproduction, distribution, display or performance rights in this work are provided.|
|Deposited By:||Jason Perez|
|Deposited On:||13 Oct 2011 21:31|
|Last Modified:||13 Oct 2011 21:31|
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