Abstract
Slippage occurrence has an important roll in stable and robust object grasping and manipulation. However, in majority of prior research on soft finger manipulation, presence of the slippage between fingers and objects has been ignored. In this paper which is a continuation of our prior work, a revised and more general method for dynamic modeling of planar slippage is presented using the concept of friction limit surface. Friction limit surface is utilized to relate contact sliding motions to contact frictional force and moment in a planar contact. In this method, different states of planar contact are replaced with a second-order differential equation. As an example of the proposed method application, dynamic modeling and slippage analysis of object manipulation on a horizontal plane using a three-link soft finger is studied. Then, a controller is designed to reduce and remove the undesired slippage which occurs between the soft finger and object and simultaneously move the object on a predefined desired path. Numerical simulations reveal the acceptable performance of the proposed method and the designed controller.
Highlights
Human hands are one of the most elaborate organs of the human body from dexterity point of view
Contact modeling is the preliminary step in analysis of object grasping and manipulation
The majority of prior research on grasping and manipulation are based on point contact assumption
Summary
Human hands are one of the most elaborate organs of the human body from dexterity point of view. Fakhari et al [24] studied the linear slippage which occurs between a planar soft finger and an object during manipulation. Friction limit surface relates contact frictional force/moment to contact sliding motions and determines when there is a planar slippage between the objects.
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