Abstract
This paper presents a method to calculate the contact force and deformation during the gripping process with over-constraint. Considering the distances between workpiece and gripper at the contact point are variable, the relative configuration of workpiece and gripper is described. This paper solves the indeterminate contact force resulting from over-constraint of workpiece-gripper system based on linear elastic model. A simulation result is present to illustrate the deformation and overall displacement of workpiece during the grasping process. This calculating method can be utilized to design and optimize heavy-duty gripper.
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Montana, D.J.: Contact Stability for Two-fingered Grasps. IEEE Transactions on Robotics and Automation 8(4), 421–430 (1992)
Howard, W.S., Kumar, V.: On the Stability of Grasped Objects. IEEE Transactions on Robotics and Automation 12(6), 904–917 (1996)
Choudhuri, S.A., De Meter, E.C.: Tolerance Analysis of Machining Fixture Locators. Transactions of ASME-Journal of Manufacturing Science and Engineering 121, 273–281 (1999)
Salisbury, J.K., Townsend, W., Ebermann, B., Dipietro, D.: Preliminary Design of a Whole-arm Manipulation System(WAMS). In: Proc. of 1988 IEEE Int. Conf. on Robotics and Automation, pp. 254–260 (1988)
Xiong, C.-H., Xiong, Y.-L., Wang, M.Y.: On Prediction of Passive Contact Forces of Workpiece-Fixture Systems. In: ASME 2003 Design Engineering Technical Conferences and Computers and Information in Engineering Conference (2003)
Xiong, Y., Xiong, X.: Algebraic Structure and Geometric Interpretation of Rigid Complex Fixture Systems. IEEE Transactions on Automation Science and Engineering 8(4), 252–264 (2007)
Gesley: From cad/cam to simulation: Automatic Model Generation for Mechanical Devices. In: Fishwick, P., Modjeski, R. (eds.) Knowledge-Based Simulation: Methods and Applications. Springer, New York (1989)
Johnson, K.L.: Contact Mechanics. Cambridge U.P., New York (1985)
Rimon, E., Burdick, J.W., Omata, T.: A Polyhedral Bound on the Indeterminate Contact Forces in Planar Quasi-Rigid Fixturing and Grasping Arrangements. IEEE Transactions on Robotics 22(2), 240–255 (2006)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Mao, J., Yang, W. (2008). Computing Contact Force and Deformation in the Heavy-Duty Gripping with Over-Constraint. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_28
Download citation
DOI: https://doi.org/10.1007/978-3-540-88513-9_28
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88512-2
Online ISBN: 978-3-540-88513-9
eBook Packages: Computer ScienceComputer Science (R0)