Analysis of Multi-Fingered Grasp and Manipulation of Ping-Pong Racket

Liu, Yu Wang; Leng, Yu; Wang, Hong Guang; Zhou, Wei

doi:10.4028/www.scientific.net/aef.2-3.378

Cited by 1 publication

(1 citation statement)

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“…It can provide a certain reference for the optimization of the clamping force. Liu et al [11] analyzed the constraints of different contact models grasped by the robotic hand and proposed a new target function of the contact force, which contributed to the contact force programming of the robotic hand. Cai et al [12] obtained an initial value of the grasping force using the Lagrange multiplier algorithm and introduced a concept of stability index of the friction cone to optimize the grasping force.…”

Section: Introductionmentioning

confidence: 99%

Optimization Method of the Clamping Force for Large Cabin Parts

Yao,

Luan,

Ceccarelli

et al. 2023

Applied Sciences

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In order to realize the stable clamping of large cabin parts, this paper studied the clamping force optimization of the clamping mechanism for large-mass and large-size cabin parts. Firstly, three kinds of contact models are introduced. Then, a clamping matrix is constructed for a particular clamping configuration. The nonlinear friction cone constraint at the contact point is transformed into a linear affine constraint in a smooth Riemannian manifold using the special structure of the positive definite symmetric matrix. Finally, a large cabin part used in the aerospace field is used as an example for calculating and simulating the clamping force optimization. Different optimization algorithms are used to calculate the initial value which is put into the gradient flow optimization method of the clamping force for optimization calculation. Meanwhile, the normal clamping force value of a 2 t object is measured using relevant experimental equipment. The simulation results and experimental results show that the gradient flow optimization method of the clamping force can quickly complete the clamping force optimization of large-mass and large-size cabin parts. The actual measured value of the normal clamping force is close to the simulated convergence value. The distribution of the normal force of the clamping mechanisms and the convergence value of the clamping force for each clamping mechanism can provide some references for determining the output clamping force of the clamping mechanism and confirming a reasonable distribution of the clamping mechanism. It also confirms the feasibility and effectiveness of this method applied to the clamping force optimization for a large axial part.

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Section: Introductionmentioning

confidence: 99%