Assessment of the contact behavior of a soft hemispherical finger tip in curved profile grasping

Abstract

Abstract This paper presents a finite element study on the contact parameters of a soft hemispherical finger tip pressed against curved surface. The variation in magnitudes of contact radius, contact pressure and vertical displacement are estimated using two-dimensional finite element models. The special effects of geometry using a wide range of normal force on soft finger tips are presented with the aid of a dimensionless parameter, curve factor (R/a). It addresses the effects of the load–contact relationship for ten different fingertip combinations. From close observations it can be concluded that a higher magnitude of contact radius can be obtained with a lower curve factor and vice-versa. Also, it is evident that the radius of contact is higher for a curved object when compared with a flat one for a particular combination. However, there is a significant reduction in the magnitudes of vertical depression and contact pressure.