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

• المؤلفون الرئيسيون: Dong, Huixu, Qiu, Chen, Prasad, Dilip K., Pan, Ye, Dai, Jiansheng, Chen, I-Ming
• مؤلفون آخرون: Robotics Research Centre
• التنسيق: مقال
• اللغة: English
• منشور في: 2020
• الموضوعات: Engineering::Mechanical engineering::Robots; Contact Mechanics; Grasp Stability
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/144591
• المؤسسة: Nanyang Technological University

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...