Experiments and Modeling of Friction-Compliance Laws for Friction-Based Fixturing and Robotic Manipulation

这个分析和实验研究项目的目的是开发新的非线性建模方法的物理接触多体把握和夹具，并验证这些模型上的一种新的实验夹具系统。 该项目的分析部分将制定集总参数非线性顺应性法律，更准确地描述多体接触的物理涉及摩擦和遵守。 该项目的实验部分将创建一个新的实验系统，可以准确地测量在顺应性和摩擦夹具安排所涉及的力。 分析模型将在此实验夹具系统上进行验证和改进。 由此产生的非线性模型将被用来开发新的夹具和抓取算法，接受任务规格，如工作量水平和固定公差，并自适应地选择最简单的夹具安排，满足任务的约束和管理物理的contacts.Physical安排，涉及多个机构之间的接触是常见的工业夹具和机器人抓取应用。 夹具、抓取和操纵规划算法的成功可能关键地取决于规划所基于的底层接触模型的准确性。如果成功的话，将在本研究项目中开发的非线性接触模型将允许全新的夹具规划范例。目前的夹具范例依赖于保守的刚体模型，以确保适当的工件固定。 但是，许多轻到中等负荷的应用程序不需要像这些经典范例所要求的那样多的固定元素来实现任务规范。 在本项目中创建的改进的摩擦顺应性法律将允许更智能和自适应的夹具策略，这些策略将产生简单而强大的夹具和夹持系统。 这项研究还将导致新的机器人操作算法，避免灾难性的现象，如楔入和卡住。

The objective of this analytical and experimental research project is to develop new nonlinear modeling methods for the physics of contact in multi-body grasps and fixtures, and to verify these models on a novel experimental fixturing system. The analytical portion of the project will formulate lumped parameter nonlinear compliance laws that more accurately describe the physics of multi-body contact involving both friction and compliance. The experimental component of this project will create a novel experimental system that can accurately measure the forces involved in compliant and frictional fixturing arrangements. The analytical models will be verified and refined on this experimental fixturing system. The resulting nonlinear models will be used to develop novel fixturing and grasping algorithms that accept task specifications such as workload level and immobilization tolerance, and the adaptively select the simplest possible fixture arrangement that satisfies both the task constraints and the governing physics of the contacts.Physical arrangements that involve contact between multiple bodies are common in industrial fixturing and robotic grasping applications. The success of fixture, grasp, and manipulation planning algorithms may crucially depend on the accuracy of the underlying contact models upon which the plans are based. If successful, the nonlinear contact models that will be developed in this research project will allow entirely new fixture planning paradigms. Current fixturing paradigms rely on conservative rigid body models to ensure proper workpiece immobilization. But many light-to-moderate duty applications need not be gripped by as many fixels as are required by these classical paradigms in order to achieve task specifications. The improved friction-compliance laws that will be created in this project will allow more intelligent and adaptive fixturing strategies that should yield simple yet robust fixturing and gripping systems. This research will also lead to new robotic manipulation algorithms that avoid catastrophic phenomena such as wedging and jamming.