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Title: Modeling of contact mechanics and friction limit surfaces for soft fingers in robotics, with experimental results

Abstract

A new theory in contact mechanics for modeling of soft fingers is proposed to define the relationship between the normal force and the radius of contact for soft fingers by considering general soft-finger materials, including linearly and nonlinearly elastic materials. The results show that the radius of contact is proportional to the normal force raised to the power of {gamma}, which ranges from 0 to 1/3. This new theory subsumes the Hertzian contact model for linear elastic materials, where {gamma} = 1/3. Experiments are conducted to validate the theory using artificial soft fingers made of various materials such as rubber and silicone. Results for human fingers are also compared. This theory provides a basis for numerically constructing friction limit surfaces. The numerical friction limit surface can be approximated by an ellipse, with the major and minor axes as the maximum friction force and the maximum moment with respect to the normal axis of contact, respectively. Combining the results of the contact-mechanics model with the contact-pressure distribution, the normalized friction limit surface can be derived for anthropomorphic soft fingers. The results of the contact-mechanics model and the pressure distribution for soft fingers facilitate the construction of numerical friction limit surfaces, andmore » will enable us to analyze and simulate contact behaviors of grasping and manipulation in robotics.« less

Authors:
;
Publication Date:
Research Org.:
State Univ. of New York, NY (US)
OSTI Identifier:
20001201
Resource Type:
Journal Article
Journal Name:
International Journal of Robotics Research
Additional Journal Information:
Journal Volume: 18; Journal Issue: 9; Other Information: PBD: Sep 1999; Journal ID: ISSN 0278-3649
Country of Publication:
United States
Language:
English
Subject:
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION; ROBOTS; FINGERS; SURFACES; SLIDING FRICTION; CONTROL THEORY

Citation Formats

Xydas, N., and Kao, I. Modeling of contact mechanics and friction limit surfaces for soft fingers in robotics, with experimental results. United States: N. p., 1999. Web. doi:10.1177/02783649922066673.
Xydas, N., & Kao, I. Modeling of contact mechanics and friction limit surfaces for soft fingers in robotics, with experimental results. United States. doi:10.1177/02783649922066673.
Xydas, N., and Kao, I. Wed . "Modeling of contact mechanics and friction limit surfaces for soft fingers in robotics, with experimental results". United States. doi:10.1177/02783649922066673.
@article{osti_20001201,
title = {Modeling of contact mechanics and friction limit surfaces for soft fingers in robotics, with experimental results},
author = {Xydas, N. and Kao, I.},
abstractNote = {A new theory in contact mechanics for modeling of soft fingers is proposed to define the relationship between the normal force and the radius of contact for soft fingers by considering general soft-finger materials, including linearly and nonlinearly elastic materials. The results show that the radius of contact is proportional to the normal force raised to the power of {gamma}, which ranges from 0 to 1/3. This new theory subsumes the Hertzian contact model for linear elastic materials, where {gamma} = 1/3. Experiments are conducted to validate the theory using artificial soft fingers made of various materials such as rubber and silicone. Results for human fingers are also compared. This theory provides a basis for numerically constructing friction limit surfaces. The numerical friction limit surface can be approximated by an ellipse, with the major and minor axes as the maximum friction force and the maximum moment with respect to the normal axis of contact, respectively. Combining the results of the contact-mechanics model with the contact-pressure distribution, the normalized friction limit surface can be derived for anthropomorphic soft fingers. The results of the contact-mechanics model and the pressure distribution for soft fingers facilitate the construction of numerical friction limit surfaces, and will enable us to analyze and simulate contact behaviors of grasping and manipulation in robotics.},
doi = {10.1177/02783649922066673},
journal = {International Journal of Robotics Research},
issn = {0278-3649},
number = 9,
volume = 18,
place = {United States},
year = {1999},
month = {9}
}