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Title: A linear complementarity approach to the frictionless gripper problem

Abstract

This article deals with static unilateral phenomena arising in grasping mechanisms and caused by the possible loss of contact between elastic grippers and rigid objects. The problem is formulated as a linear complementarity problem (LCP) that is derived from the equilibrium equations of forces and the compatibility equations for the displacements, as well as from the complementarity inequality restriction describing the contract. A variant of the infeasibility-reducing, complementary pivot algorithm of Lemke is used for the numerical solution of the arising LCP. Form and force closure conditions are fulfilled in an automatic way from the solution of the aforementioned LCP. The used algorithm guarantees rapid convergence to the solution of the problem. The theory is illustrated by numerical examples.

Authors:
; ;  [1]
  1. Aristotle Univ., Thessaloniki (Greece)
Publication Date:
OSTI Identifier:
6904996
Resource Type:
Journal Article
Journal Name:
International Journal of Robotics Research; (United States)
Additional Journal Information:
Journal Volume: 11:2; Journal ID: ISSN 0278-3649
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; MANIPULATORS; CONTROL; ALGORITHMS; FINGERS; POSITIONING; ROBOTS; SLIDING FRICTION; SLIP; BODY; BODY AREAS; EQUIPMENT; FRICTION; HANDS; LABORATORY EQUIPMENT; LIMBS; MATERIALS HANDLING EQUIPMENT; MATHEMATICAL LOGIC; REMOTE HANDLING EQUIPMENT; 420200* - Engineering- Facilities, Equipment, & Techniques

Citation Formats

Al-Fahed, A M, Stavroulakis, G E, and Panagiotopoulos, P D. A linear complementarity approach to the frictionless gripper problem. United States: N. p., 1992. Web. doi:10.1177/027836499201100202.
Al-Fahed, A M, Stavroulakis, G E, & Panagiotopoulos, P D. A linear complementarity approach to the frictionless gripper problem. United States. https://doi.org/10.1177/027836499201100202
Al-Fahed, A M, Stavroulakis, G E, and Panagiotopoulos, P D. Wed . "A linear complementarity approach to the frictionless gripper problem". United States. https://doi.org/10.1177/027836499201100202.
@article{osti_6904996,
title = {A linear complementarity approach to the frictionless gripper problem},
author = {Al-Fahed, A M and Stavroulakis, G E and Panagiotopoulos, P D},
abstractNote = {This article deals with static unilateral phenomena arising in grasping mechanisms and caused by the possible loss of contact between elastic grippers and rigid objects. The problem is formulated as a linear complementarity problem (LCP) that is derived from the equilibrium equations of forces and the compatibility equations for the displacements, as well as from the complementarity inequality restriction describing the contract. A variant of the infeasibility-reducing, complementary pivot algorithm of Lemke is used for the numerical solution of the arising LCP. Form and force closure conditions are fulfilled in an automatic way from the solution of the aforementioned LCP. The used algorithm guarantees rapid convergence to the solution of the problem. The theory is illustrated by numerical examples.},
doi = {10.1177/027836499201100202},
url = {https://www.osti.gov/biblio/6904996}, journal = {International Journal of Robotics Research; (United States)},
issn = {0278-3649},
number = ,
volume = 11:2,
place = {United States},
year = {1992},
month = {4}
}