Elastic Model of Deformable Fingertip for Soft-Fingered Manipulation
Elastic Model of Deformable Fingertip for Soft-Fingered Manipulation
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DOI：
10.1109/tro.2006.886274
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发表时间：
2006-12
影响因子：
7.8
通讯作者：
T. Inoue;S. Hirai
中科院分区：
文献类型：
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作者：
T. Inoue;S. Hirai
我们提出了一个简单的静态弹性模型的半球形软指尖进行大的接触变形，发生时，机器人的手与指尖处理和操纵对象，这是适合于软手指操作的分析，因为简单的形式的模型。我们专注于制定弹性力和势能方程的变形的手指表示为无限数量的虚拟弹簧垂直站立。该方程是两个变量的函数：半球形指尖的最大位移和接触平面物体的方位角。在我们的模型中，弹性势能存在局部极小值。通过与半球形软指尖压缩试验结果的比较，验证了弹性模型的有效性
We propose a straightforward static elastic model of a hemispherical soft fingertip undergoing large contact deformation, as occurs when robotic hands with the fingertips handle and manipulate objects, which is suitable for the analysis of soft-fingered manipulation because of the simple form of the model. We focus on formulating elastic force and potential energy equations for the deformation of the fingers which are represented as an infinite number of virtual springs standing vertically. The equations are functions of two variables: the maximum displacement of the hemispherical fingertip and the orientation angle of a contacting planar object. The elastic potential energy has a local minimum in our model. The elastic model was validated by comparison with results of a compression test of the hemispherical soft fingertip