Grasp stability analysis of two objects with both friction and frictionless contacts in two dimensions
Grasp stability analysis of two objects with both friction and frictionless contacts in two dimensions
复制标题
二维摩擦和无摩擦接触的两个物体的抓取稳定性分析
DOI：
--
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
Y. Funahashi
中科院分区：
文献类型：
--
作者：
Takayoshi Yamada;N. Mimura;Y. Funahashi
本文分析了两物体在二维空间中有摩擦接触和无摩擦接触时的抓取稳定性。在抓取两个物体时，存在多个接触点，即两个物体之间存在一个接触点，物体与手指之间存在多个接触点。在以前的工作中，所有这些接触点都被假定为只有摩擦或只有没有摩擦。本文讨论了更实际的抓取，其中既有摩擦接触，又有无摩擦接触。在这种情况下，由于抓取系统中的摩擦接触和无摩擦接触，同时发生滚动运动和滑动运动。抓取稳定性由抓取系统中储存的势能来评价。通过数值算例，说明了摩擦力的影响
This paper analyzes grasp stability of two objects with both friction and frictionless contacts in two dimensions. In the grasp of two objects, there exist multiple contact points which mean one contact point between two objects and plural contact points between objects and fingers. In the previous work, all these contact points are assumed to be either only with friction or only without friction. This paper discusses more practical grasp, in which there exist both friction contacts and frictionless contacts. In this case, both rolling motions and sliding motions occur due to friction contact and frictionless contact in the grasp system simultaneously. The grasp stability is evaluated by the potential energy stored in the grasp system. By using numerical examples, effect of friction is demonstrated