Passive force analysis with elastic contacts for fixturing and grasping

Tong Liu, Michael Yu Wang

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

5 Citations (Scopus)

Abstract

Unlike active force closure, which is a property for the multi-finger robotic hand grasping, passive force closure are involved in the grasping systems with constraining devices that cannot freely control the contact forces, such as the whole-arm grasping and manufacturing fixture. In passive grasping, the contact forces rely on the physical compliance of the system which is usually described by complex contact mechanics models. The purpose of this paper is to study the properties of a type of contact model, the linear elastic contact model, so that it is possible to determine the passive force closure condition and to understand the essential characteristics of the passive grasping. The formula to solve the passive grasping forces is derived. Properties of the passive grasping is studied. The kinematic compatibility equation which describes the requirement of the coordination of contact forces is discovered, which is unique to the passive grasping. The algorithm to find the range of the preload to guarantee the passive force closure is deduced. The algorithm is demonstrated with two examples.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Automation, ICRA '09
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages1691-1696
Number of pages6
ISBN (Print)9781424427895
DOIs
Publication statusPublished - 2009
Externally publishedYes
EventIEEE International Conference on Robotics and Automation 2009 - Kobe, Japan
Duration: 12 May 200917 May 2009
https://ieeexplore.ieee.org/xpl/conhome/5076472/proceeding (Proceedings)

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

ConferenceIEEE International Conference on Robotics and Automation 2009
Abbreviated titleICRA 2009
Country/TerritoryJapan
CityKobe
Period12/05/0917/05/09
Internet address

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