Enabling grasp action: Generalized quality evaluation of grasp stability via contact stiffness from contact mechanics insight

TY - JOUR

T1 - Enabling grasp action

T2 - Generalized quality evaluation of grasp stability via contact stiffness from contact mechanics insight

AU - Dong, Huixu

AU - Qiu, Chen

AU - Prasad, Dilip K.

AU - Pan, Ye

AU - Dai, Jiansheng

AU - Chen, I. Ming

PY - 2019/4/1

Y1 - 2019/4/1

N2 - Performing a grasp is a pivotal capability for a robotic gripper. We propose a new evaluation approach of the quality of grasping stability via constructing a model of grasping stiffness based on the theory of contact mechanics. First, the mathematical models are built to explore “soft contact” and the general grasp stiffness between a finger and an object. Next, the grasping stiffness matrix is constructed to reflect the normal, tangential and torsion stiffness coefficients. Finally, we design two grasping cases to verify the proposed measurement criterion of the quality of grasping stability by comparing different grasping configurations. Specifically, a standard grasping index is used and compared with the minimum eigenvalue index of the constructed grasping stiffness we built. The comparison result reveals a similar tendency between them for measuring the quality of grasping stability and thus, validates the proposed approach.

AB - Performing a grasp is a pivotal capability for a robotic gripper. We propose a new evaluation approach of the quality of grasping stability via constructing a model of grasping stiffness based on the theory of contact mechanics. First, the mathematical models are built to explore “soft contact” and the general grasp stiffness between a finger and an object. Next, the grasping stiffness matrix is constructed to reflect the normal, tangential and torsion stiffness coefficients. Finally, we design two grasping cases to verify the proposed measurement criterion of the quality of grasping stability by comparing different grasping configurations. Specifically, a standard grasping index is used and compared with the minimum eigenvalue index of the constructed grasping stiffness we built. The comparison result reveals a similar tendency between them for measuring the quality of grasping stability and thus, validates the proposed approach.

KW - Contact mechanics

KW - Grasp quality

KW - Grasp stability

KW - Robotic gripper

KW - Robotic modeling

UR - http://www.scopus.com/inward/record.url?scp=85060105129&partnerID=8YFLogxK

U2 - 10.1016/j.mechmachtheory.2019.01.019

DO - 10.1016/j.mechmachtheory.2019.01.019

M3 - Article

AN - SCOPUS:85060105129

SN - 0094-114X

VL - 134

SP - 625

EP - 644

JO - Mechanism and Machine Theory

JF - Mechanism and Machine Theory

ER -