通过检测弹性手指曲面上的粘/滑分布来控制抓取力

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) Pub Date : 2000-12-03 DOI:10.1109/ROBOT.2000.845338

T. Maeno, Shinichi Hiromitsu, T. Kawai

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引用次数: 90

摘要

提出了一种利用人造弹性手指抓取物体时控制抓取力的方法。首先，利用有限元分析方法计算了握棒面积与手指内部应变分布之间的关系。在此基础上，提出了一种在抓杆面积减小时，通过减小切向力的增加比来控制抓力的方法。最后，用实际的弹性手指控制抓握力，该手指由硅橡胶制成，并在其中加入了应变片。证实了在物体的重量和摩擦系数未知的情况下，可以用足够的抓取力抓取物体而不发生完全滑移。

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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Control of grasping force by detecting stick/slip distribution at the curved surface of an elastic finger

A method for controlling the grasping force when an object is grasped by artificial elastic fingers is proposed. First, the relationship between the stick area and the internal strain distribution of the finger is calculated using FE (finite element) analysis. Based on this relationship, a method is proposed for controlling the grasping force by decreasing the increasing ratio of the tangential force when the stick area is decreasing. Finally, the grasping force is controlled using an actual elastic finger, which is made of silicone rubber and in which strain gages are incorporated. It is confirmed that objects can be grasped using adequate grasping force without complete slippage, even when the weight and the friction coefficient of the objects are unknown.

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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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