Study of soft-finger contact mechanics using finite elements analysis and experiments

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-04-24 DOI:10.1109/ROBOT.2000.846351

N. Xydas, M. Bhagavat, I. Kao

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引用次数: 97

Abstract

Nonlinear finite element analysis is employed to study the soft-finger contact mechanics. Two fingertips of the same material but with different sizes are analyzed. The results are compared with experiments to support the power-law theory proposed by Xydas and Kao (1999). The material properties used in the FEM analysis are based upon uniaxial compression experiments conducted using the actual fingertip material. The coefficient of friction is also experimentally determined and applied in the simulation. Comparisons of numerical as well as experimental radii of contact are offered in conjunction with the power-law theory for soft fingers. The pressure distribution profile at the contact zone, obtained from the finite elements analysis, is plotted and the order of the generalized pressure distribution profile is calculated. Finally, the influence of friction over the contact area is investigated using FEM analysis.

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用有限元分析和实验研究软手指接触力学

采用非线性有限元方法对软指接触力学进行了研究。对两根材料相同但尺寸不同的指尖进行了分析。结果与实验进行了比较，以支持Xydas和Kao(1999)提出的幂律理论。有限元分析中使用的材料性能是基于使用实际指尖材料进行的单轴压缩实验。实验确定了摩擦系数，并将其应用于仿真。结合幂律理论对软手指的接触半径进行了数值和实验比较。通过有限元分析得到接触区压力分布曲线，并计算了广义压力分布曲线的阶数。最后，采用有限元方法分析了摩擦对接触面积的影响。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)

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