The effective radius and resistance to slippage

Pavel Dzitac; Abdul Md Mazid; Guy Littlefair; Ashwin Polishetty

doi:10.5220/0005048103960401

The effective radius and resistance to slippage

Pavel Dzitac^*, Abdul Md Mazid, Guy Littlefair, Ashwin Polishetty

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding contribution › peer-review

2 Citations (Scopus)

Abstract

This work reveals that parallel gripper flat-jaw configuration affects grasping effectiveness. An important finding is the fact that object grasp reliability is influenced significantly by gripper's ability to develop high resistance to object rotation in the gripper. The concept of effective torque radius, which increases resistance to object rotation in the gripper, is presented here and can be extrapolated to other grasping devices and grasping strategies to improve their reliability and make them more effective. Grippers with full-jaw contact surface and those with discrete contact areas have been investigated using simple experimental setups. Essential mathematical models needed for analytical investigation, based on simple mechanics for full-jaw contact surfaces and discrete-jaw contact surfaces, are presented. These may be useful for gripper jaw design purposes.

Original language	English
Title of host publication	ICINCO 2014
Subtitle of host publication	Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics
Editors	Joaquim Filipe, Oleg Gusikhin, Kurosh Madani, Jurek Sasiadek
Place of Publication	Setúbal, Portugal
Publisher	SciTePress
Pages	396-401
Number of pages	6
Volume	2
ISBN (Electronic)	9789897580406
DOIs	https://doi.org/10.5220/0005048103960401
Publication status	Published - 2014
Externally published	Yes
Event	11th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2014 - Vienna, Austria Duration: 1 Sept 2014 → 3 Sept 2014

Other

Other	11th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2014
Country/Territory	Austria
City	Vienna
Period	1/09/14 → 3/09/14

Keywords

Gripper design
Manipulation reliability
Slippage control

Access to Document

10.5220/0005048103960401

Cite this

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title = "The effective radius and resistance to slippage",

abstract = "This work reveals that parallel gripper flat-jaw configuration affects grasping effectiveness. An important finding is the fact that object grasp reliability is influenced significantly by gripper's ability to develop high resistance to object rotation in the gripper. The concept of effective torque radius, which increases resistance to object rotation in the gripper, is presented here and can be extrapolated to other grasping devices and grasping strategies to improve their reliability and make them more effective. Grippers with full-jaw contact surface and those with discrete contact areas have been investigated using simple experimental setups. Essential mathematical models needed for analytical investigation, based on simple mechanics for full-jaw contact surfaces and discrete-jaw contact surfaces, are presented. These may be useful for gripper jaw design purposes.",

keywords = "Gripper design, Manipulation reliability, Slippage control",

author = "Pavel Dzitac and {Md Mazid}, Abdul and Guy Littlefair and Ashwin Polishetty",

year = "2014",

doi = "10.5220/0005048103960401",

language = "English",

volume = "2",

pages = "396--401",

editor = "Joaquim Filipe and Oleg Gusikhin and Kurosh Madani and Jurek Sasiadek",

booktitle = "ICINCO 2014",

publisher = "SciTePress",

note = "11th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2014 ; Conference date: 01-09-2014 Through 03-09-2014",

}

Dzitac, P, Md Mazid, A, Littlefair, G & Polishetty, A 2014, The effective radius and resistance to slippage. in J Filipe, O Gusikhin, K Madani & J Sasiadek (eds), ICINCO 2014: Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics. vol. 2, SciTePress, Setúbal, Portugal, pp. 396-401, 11th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2014, Vienna, Austria, 1/09/14. https://doi.org/10.5220/0005048103960401

The effective radius and resistance to slippage. / Dzitac, Pavel; Md Mazid, Abdul; Littlefair, Guy et al.
ICINCO 2014: Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics. ed. / Joaquim Filipe; Oleg Gusikhin; Kurosh Madani; Jurek Sasiadek. Vol. 2 Setúbal, Portugal: SciTePress, 2014. p. 396-401.

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding contribution › peer-review

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T1 - The effective radius and resistance to slippage

AU - Dzitac, Pavel

AU - Md Mazid, Abdul

AU - Littlefair, Guy

AU - Polishetty, Ashwin

PY - 2014

Y1 - 2014

N2 - This work reveals that parallel gripper flat-jaw configuration affects grasping effectiveness. An important finding is the fact that object grasp reliability is influenced significantly by gripper's ability to develop high resistance to object rotation in the gripper. The concept of effective torque radius, which increases resistance to object rotation in the gripper, is presented here and can be extrapolated to other grasping devices and grasping strategies to improve their reliability and make them more effective. Grippers with full-jaw contact surface and those with discrete contact areas have been investigated using simple experimental setups. Essential mathematical models needed for analytical investigation, based on simple mechanics for full-jaw contact surfaces and discrete-jaw contact surfaces, are presented. These may be useful for gripper jaw design purposes.

AB - This work reveals that parallel gripper flat-jaw configuration affects grasping effectiveness. An important finding is the fact that object grasp reliability is influenced significantly by gripper's ability to develop high resistance to object rotation in the gripper. The concept of effective torque radius, which increases resistance to object rotation in the gripper, is presented here and can be extrapolated to other grasping devices and grasping strategies to improve their reliability and make them more effective. Grippers with full-jaw contact surface and those with discrete contact areas have been investigated using simple experimental setups. Essential mathematical models needed for analytical investigation, based on simple mechanics for full-jaw contact surfaces and discrete-jaw contact surfaces, are presented. These may be useful for gripper jaw design purposes.

KW - Gripper design

KW - Manipulation reliability

KW - Slippage control

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DO - 10.5220/0005048103960401

M3 - Conference proceeding contribution

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SP - 396

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BT - ICINCO 2014

A2 - Filipe, Joaquim

A2 - Gusikhin, Oleg

A2 - Madani, Kurosh

A2 - Sasiadek, Jurek

PB - SciTePress

CY - Setúbal, Portugal

T2 - 11th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2014

Y2 - 1 September 2014 through 3 September 2014

ER -

The effective radius and resistance to slippage

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