NDLI: Active outline shaping of a rheological object based on plastic deformation distribution

Content Provider	IEEE Xplore Digital Library
Author	Yoshimoto, K. Higashimori, M. Tadakuma, K. Kaneko, M.
Copyright Year	2011
Description	Author affiliation: Department of Mechanical Engineering, the Graduate School of Engineering, Osaka University, Suita, 565-0871, JAPAN (Higashimori, M.; Tadakuma, K.; Kaneko, M.) \|\| Department of Health Science, the Graduate School of Medicine, Osaka University, Suita, 565-0871, JAPAN (Yoshimoto, K.)
Abstract	This paper discusses a shaping strategy of a rheological object whose deformation characteristic includes both elasticity and plasticity. We first introduce a seven-nodes viscoelastic model for approximating the outline and the dynamic characteristics of the object. Then, we show a shaping method of the object's outline, where the ratio between the object's length in the grasping direction and that in the perpendicular one is controlled by using a parallel jaw gripper. Based on the plastic deformation distribution for the integrated input stress, the proposed method can actively manage the final object's outline. In addition to the contribution on simplifying the gripper's degree of freedom, this method has the advantage that the handling time is drastically reduced, compared with the position based passive method. We finally show the experimental results for confirming the validity of the proposed method.
Starting Page	1386
Ending Page	1391
File Size	1209487
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094463
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Grippers Strain Stress Mathematical model Equations Plastics Force
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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