Predicting the compliance of soft fingertips with differentiated layer design: A numerical and experimental investigation

2009 International Conference on Advanced Robotics, ICAR 2009

Volumn , Issue , 2009, Pages

  Piccinini, Marco ^a   Berselli, Giovanni ^a   Zucchelli, Andrea ^a   Vassura, Gabriele ^a  

^a UNIVERSITY OF BOLOGNA   (Italy)

Author keywords

Contact mechanics; FE analysis; Robotic hand; Soft fingertip

Indexed keywords

CONTACT MECHANICS; ELASTIC MATERIALS; EXPERIMENTAL INVESTIGATIONS; FE ANALYSIS; FEA MODELS; HYPERELASTIC CONSTITUTIVE MODEL; INTERNAL LAYERS; NON-LINEAR FINITE ELEMENTS; RIGID CORE; ROBOTIC HAND; ROBOTIC HANDS; SIMPLIFYING ASSUMPTIONS; SKIN LAYER; SOFT FINGERTIP; SOFT FINGERTIPS;

CONCURRENT ENGINEERING; END EFFECTORS; JOB ANALYSIS; MECHANICAL PROPERTIES; RAPID PROTOTYPING; RECONSTRUCTION (STRUCTURAL); RELIABILITY ANALYSIS; ROBOTIC ARMS; STRUCTURAL DESIGN;

ROBOTICS;

EID: 70449367217     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (17)

1. M.R.Cutkosky, J.M.Jourdain, and P.K.Wright.Skin materials for robotic fingers.In Proc.IEEE Int.Conf.on Robotics and Automation, ICRA, volume 3, pages 1649-1654, 1987.
2. K.B.Shimoga and A.A.Goldenberg.Soft Robotic Fingertips: Part I: A Comparison of Construction Materials.The International Journal of Robotics Research, 15(4):320-334, 1996.
3. Mark R.Cutkosky and Paul K.Wright.Friction, Stability and the Design of Robotic Fingers.The International Journal of Robotics Research, 5(4):20-37 vol.4, 1986.
4. N.Xydas and I.Kao.Modeling of contact mechanics and friction limit surface for soft fingers in robotics, with experimental results.Int.Jour.of Robotic Research, 18(8):941-950, 1999.
5. N.Xydas, M.Bhagavat, and I.Kao.Study of soft-finger contact mechanics using finite elements analysis and experiments.volume 3, pages 2179-2184 vol.3, 2000.
6. Y.Li and I.Kao.A review of modeling of soft-contact fingers and stiffness control for dextrous manipulation in robotics.Robotics and Automation, 2001.Proceedings 2001 ICRA.IEEE International Conference on, 3:3055-3060 vol.3, 2001.
7. P.Tiezzi and G.Vassura.Experimental analysis of soft fingertips with internal rigid core.In Proc.IEEE Int.Conf.on Advanced Robotics, ICAR, pages 109-114, Seattle, Washington, 2005.
8. P.Tiezzi and I.Kao.Characteristics of contact and limit surface for viscoelastic fingers.In IEEE Int.Conf.on Robotics and Automation, ICRA, Orlando, Florida, 2006.
9. G.Berselli and G.Vassura.Differentiated layer design to modify the compliance of soft pads for robotic limbs.In Proc.IEEE Int.Conf.on Robotics and Automation, 2009.
10. R.S.Rivlin and D.W.Saunders.Large elastic deformations of isotropic materials. vii. experiments on the deformation of rubber.Philosophical Transactions of the Royal Society of London Series A, 243:251-288, 1951.
11. O.H.Yeoh.Characterization of elastic properties of carbon-black-filled rubber vulcanizates.Rubber Chemistry and Technology, 63:792-805, 1990.
12. R.W.Ogden.Large deformation isotropic elasticity: on the correlation of theory and experiment for incompressible rubber-like solids.Proc.Roy.Soc.London, A-326:565-584, 1972.
13. G.A.Holzapfel.Nonlinear Solid Mechanics: A Continuum Approach for Engineering.John Wiley and Sons, 2001.
14. T.V.Korochkina, E.H.Jewell, T.C.Claypole, and D.T.Gethin.Experimental and numerical investigation into nonlinear deformation of silicone rubber pads during ink transfer process.Polymer Testing, 27:778791, 2008.
15. J.R.Day and K.A.Miller.Equibiaxial stretching of elastomeric sheets, an analytical verification of experimental technique.May 2000.
16. G.R.Bhashyam.ANSYS Mechanical, A Powerful Nonlinear Simulation Tool.Ansys, Inc., 2002.
17. P.Tiezzi, I.Kao, and G.Vassura.Effect of layer compliance on frictional behavior of soft robotic fingers.In IEEE Int.Conf.on Intelligent Robots and Systems, IROS, Beijing, China, 2006.