Abstract

The authors present an attempt to model soft robot fingertips filled with powders or plastic fluids. They propose two rolling models, adapted from hot metal rolling and extrusion, and discuss the factors that affect the choice of appropriate models. The integration of energy losses in the dynamic equations of motion is then considered. Initial simulation studies have shown that soft fingertips can help stabilize the grasp and reduce the demands on the control system. The viscoplastic nature of the finger tips affects the dynamics of manipulation by dissipating energy. The coin snap problem is given as an example to demonstrate this effect. >

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.