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On the Mechanics of Natural Compliance in Frictional Contacts and its Effect on Grasp Stiffness and Stability

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.

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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
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Additional Information:© 2004 IEEE. Issue Date: April 26-May 1, 2004; Date of Current Version: 27 September 2004.
Record Number:CaltechAUTHORS:20111013-115128547
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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.
ID Code:27210
Deposited On:13 Oct 2011 21:31
Last Modified:09 Nov 2021 16:46

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