Enabling grasp action : generalized quality evaluation of grasp stability via contact stiffness from contact mechanics insight
Performing a grasp is a pivotal capability for a robotic gripper. We propose a new evaluation approach of the quality of grasping stability via constructing a model of grasping stiffness based on the theory of contact mechanics. First, the mathematical models are built to explore “soft contact” and...
| Main Authors: | , , , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2020
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/144591 |
| _version_ | 1811685520168714240 |
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| author | Dong, Huixu Qiu, Chen Prasad, Dilip K. Pan, Ye Dai, Jiansheng Chen, I-Ming |
| author2 | Robotics Research Centre |
| author_facet | Robotics Research Centre Dong, Huixu Qiu, Chen Prasad, Dilip K. Pan, Ye Dai, Jiansheng Chen, I-Ming |
| author_sort | Dong, Huixu |
| collection | NTU |
| description | Performing a grasp is a pivotal capability for a robotic gripper. We propose a new evaluation approach of the quality of grasping stability via constructing a model of grasping stiffness based on the theory of contact mechanics. First, the mathematical models are built to explore “soft contact” and the general grasp stiffness between a finger and an object. Next, the grasping stiffness matrix is constructed to reflect the normal, tangential and torsion stiffness coefficients. Finally, we design two grasping cases to verify the proposed measurement criterion of the quality of grasping stability by comparing different grasping configurations. Specifically, a standard grasping index is used and compared with the minimum eigenvalue index of the constructed grasping stiffness we built. The comparison result reveals a similar tendency between them for measuring the quality of grasping stability and thus, validates the proposed approach. |
| first_indexed | 2024-10-01T04:45:49Z |
| format | Journal Article |
| id | ntu-10356/144591 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T04:45:49Z |
| publishDate | 2020 |
| record_format | dspace |
| spelling | ntu-10356/1445912021-02-03T04:37:27Z Enabling grasp action : generalized quality evaluation of grasp stability via contact stiffness from contact mechanics insight Dong, Huixu Qiu, Chen Prasad, Dilip K. Pan, Ye Dai, Jiansheng Chen, I-Ming Robotics Research Centre Engineering::Mechanical engineering::Robots Contact Mechanics Grasp Stability Performing a grasp is a pivotal capability for a robotic gripper. We propose a new evaluation approach of the quality of grasping stability via constructing a model of grasping stiffness based on the theory of contact mechanics. First, the mathematical models are built to explore “soft contact” and the general grasp stiffness between a finger and an object. Next, the grasping stiffness matrix is constructed to reflect the normal, tangential and torsion stiffness coefficients. Finally, we design two grasping cases to verify the proposed measurement criterion of the quality of grasping stability by comparing different grasping configurations. Specifically, a standard grasping index is used and compared with the minimum eigenvalue index of the constructed grasping stiffness we built. The comparison result reveals a similar tendency between them for measuring the quality of grasping stability and thus, validates the proposed approach. Accepted version 2020-11-13T07:41:18Z 2020-11-13T07:41:18Z 2019 Journal Article Dong, H., Qiu, C., Prasad, D. K., Pan, Y., Dai, J., & Chen, I.-M. (2019). Enabling grasp action: Generalized quality evaluation of grasp stability via contact stiffness from contact mechanics insight. Mechanism and Machine Theory, 134, 625–644. doi:10.1016/j.mechmachtheory.2019.01.019 0094-114X https://hdl.handle.net/10356/144591 10.1016/j.mechmachtheory.2019.01.019 134 625 644 en Mechanism and Machine Theory © 2019 Elsevier Ltd. All rights reserved. This paper was published in Mechanism and Machine Theory and is made available with permission of Elsevier Ltd. application/pdf |
| spellingShingle | Engineering::Mechanical engineering::Robots Contact Mechanics Grasp Stability Dong, Huixu Qiu, Chen Prasad, Dilip K. Pan, Ye Dai, Jiansheng Chen, I-Ming Enabling grasp action : generalized quality evaluation of grasp stability via contact stiffness from contact mechanics insight |
| title | Enabling grasp action : generalized quality evaluation of grasp stability via contact stiffness from contact mechanics insight |
| title_full | Enabling grasp action : generalized quality evaluation of grasp stability via contact stiffness from contact mechanics insight |
| title_fullStr | Enabling grasp action : generalized quality evaluation of grasp stability via contact stiffness from contact mechanics insight |
| title_full_unstemmed | Enabling grasp action : generalized quality evaluation of grasp stability via contact stiffness from contact mechanics insight |
| title_short | Enabling grasp action : generalized quality evaluation of grasp stability via contact stiffness from contact mechanics insight |
| title_sort | enabling grasp action generalized quality evaluation of grasp stability via contact stiffness from contact mechanics insight |
| topic | Engineering::Mechanical engineering::Robots Contact Mechanics Grasp Stability |
| url | https://hdl.handle.net/10356/144591 |
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