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 proceedingConference proceeding contributionpeer-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 languageEnglish
Title of host publicationICINCO 2014
Subtitle of host publicationProceedings of the 11th International Conference on Informatics in Control, Automation and Robotics
EditorsJoaquim Filipe, Oleg Gusikhin, Kurosh Madani, Jurek Sasiadek
Place of PublicationSetúbal, Portugal
PublisherSciTePress
Pages396-401
Number of pages6
Volume2
ISBN (Electronic)9789897580406
DOIs
Publication statusPublished - 2014
Externally publishedYes
Event11th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2014 - Vienna, Austria
Duration: 1 Sep 20143 Sep 2014

Other

Other11th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2014
CountryAustria
CityVienna
Period1/09/143/09/14

Keywords

  • Gripper design
  • Manipulation reliability
  • Slippage control

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