NDLI: Compliant grasping force modeling for handling of live objects

Content Provider	IEEE Xplore Digital Library
Author	Lee, K.-M. Joni, J. Yin, X.
Copyright Year	2001
Description	Author affiliation: George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA (Lee, K.-M.)
Abstract	Models quasi-statically the force acting on an object by a rotating flexible finger. As compared to fingers with multiple active joints, flexible fingers have many potential advantages; specifically, they are lightweight and have no relative individual moving parts in each of the fingers. Their ability to accommodate a limited range of varying sizes, shapes, and the natural reactions of some objects (without the need of a feedback mechanism such as a visual servo) makes a system using flexible fingers an attractive candidate for use as a grasper in a high-speed production setting. The advantages of flexible fingers are seldom exploited for grasping, however, because of complicated analyses involved in their design. The paper offers two methods to determine contact points/forces. The first analytical model, based on the Frisch-Fay (1962) flexible bar theory, provides an approximate closed-form solution for determining the contact points and forces. The second method using FEM predicts the stress distribution around the contact area. Both methods of predicting the contact forces have been verified experimentally. The effects of parameter variations are presented. Our results demonstrate that the model could be used as a practical means to measure the contact force between the finger and the live object.
Sponsorship	IEEE Robotics & Autom. Soc
Starting Page	1059
Ending Page	1064
File Size	733360
Page Count	6
File Format	PDF
ISBN	0780365763
ISSN	10504729
DOI	10.1109/ROBOT.2001.932734
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-05-21
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fingers Shape Rubber Birds Stress Force measurement Mechanical engineering Feedback Servomechanisms Production systems
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Dynamic grasping force control using tactile feedback for grasp of multifingered hand

Estimation of mass and center of mass of graspless and shape-unknown object

On the development of a compliant grasping mechanism for online handling of live objects. I. Analytical model

Design of handling device for caging and aligning circular objects

Passive force analysis with elastic contacts for fixturing and grasping

Enabling multi-finger, multi-hand virtualized grasping

New force measurement and micro grasping method using laser Raman spectrophotometer

Pose from pushing

Development of a soft-fingertip and its modeling based on force distribution

Compliant grasping force modeling for handling of live objects

Similar Documents

Dynamic grasping force control using tactile feedback for grasp of multifingered hand

Estimation of mass and center of mass of graspless and shape-unknown object

On the development of a compliant grasping mechanism for online handling of live objects. I. Analytical model

Design of handling device for caging and aligning circular objects

Passive force analysis with elastic contacts for fixturing and grasping

Enabling multi-finger, multi-hand virtualized grasping

New force measurement and micro grasping method using laser Raman spectrophotometer

Pose from pushing

Development of a soft-fingertip and its modeling based on force distribution

Compliant grasping force modeling for handling of live objects