Compliant grasping force modeling for handling of live objects

Lee, K.-M.; Joni, J.; Yin, Xuecheng

doi:10.1109/robot.2001.932734

Cited by 12 publications

(9 citation statements)

References 3 publications

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“…We discuss the effects of key design parameters on the damping of a continuum structure and relevant implementation issues in the context of a compliant finger ( Fig. 5(a)) commonly used in live broiler handling and processing applications [1,4], where contact-induced forces and stresses exerted by rotating fingers on an object are of concern. Detailed in Fig.…”

Section: Resultsmentioning

confidence: 99%

“…The 3D FEA conducted here extends the 2D version in Ref. [4] where published experimental data are available for validation by taking into accounts the damping effects and relaxing the quasi-static assumption previously made.…”

Section: Validation Againstmentioning

confidence: 99%

“…relative moving parts (hence, less expensive to manufacture), and most importantly, the flexibility to accommodate a limited range of sizes/shapes and natural reactions without causing damage to products. To overcome limitations of lumped parameter models such as pseudo-rigid-body models [2,3] that treat flexible members as rigid links with torsional pin-joints, Lee et al [4] performed a parametric study using 2D finite element analysis (FEA) on contact forces acting on an object. Several other analytical models [5,6] have also been developed to predict the contact force and deflected shape of compliant fingers.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic Modeling of Damping Effects in Highly Damped Compliant Fingers for Applications Involving Contacts

Liu

Lee

2011

Journal of Dynamic Systems, Measurement, and Control

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In many industries, it is often required to transfer objects using compliant fingers capable of accommodating a limited range of object shapes/sizes without causing damage to the products being handled. This paper presents a coupled computational and experimental method in time domain to characterize the damping coefficient of a continuum structure, particularly, its applications for analyzing the damping effect of a highly damped compliant finger on contact-induced forces and stresses. With the aid of Rayleigh damping and explicit dynamic finite element analysis (FEA), this method relaxes several limitations of commonly used damping identification methods (such as log-decrement and half-power methods) that are valid for systems with an oscillatory response and generally estimate the damping ratio for a lumped parameter model. This damping identification method implemented using off-the-shelf commercial FEA packages has been validated by comparing results against published data; both oscillatory and nonoscillatory responses are considered. Along with a detailed discussion on practical issues commonly encountered in explicit dynamic FEA for damping identification, the effects of damping coefficients on contact between a rotating compliant finger and an elliptical object has been numerically investigated and experimentally validated. The findings offer a better understanding for improving grasper designs for applications where joint-less compliant fingers are advantageous.

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Section: Resultsmentioning

confidence: 99%

Section: Validation Againstmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Dynamic Modeling of Damping Effects in Highly Damped Compliant Fingers for Applications Involving Contacts

Liu

Lee

2011

Journal of Dynamic Systems, Measurement, and Control

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“…Numerical methods have been increasingly used in non-traditional robotic applications involving mechanical deformable contact; for example, compliant grasping [1,2], robotic assembly of snap-fits [3] and assisted surgery [4]. Mechanical contacts are common robotic problems in agriculture, food-processing and surgical robotic systems.…”

Section: Introductionmentioning

confidence: 99%

“…o are the current and previous distances defined in(1). The weak form equations can thus be formed using the energy conservation, 9a, b), the 1 st PK stress tensor P is a nonlinear function of displacement u.…”

mentioning

confidence: 99%

An Adaptive Meshless Method for Modeling Large Mechanical Deformation and Contacts

Lee

2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

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Growing new robotic applications in agriculture, food-processing, assisted surgery and haptics, which requires handling of highly deformable objects, present a number of design challenges; among these are methods to analyze deformable contacts. Recently, meshless methods (MLM), which inherit many advantages of finite element method (FEM) and yet need no explicit mesh structure to discretize geometry, have been proposed as an attractive alternative to FEM for solving engineering problems where automatic re-meshing is needed. This paper offers an adaptive MLM (automatically inserting nodes into large error regions) for solving contact problems. We employ the sliding line algorithm with the penalty method to handle contact constraints; it does not rely on small displacement assumptions and thus, it can solve non-linear contact problems with large deformation. Along with three practical applications, we validate the method against results computed using commercial FEM software and analytical solutions.

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Modeling and Analysis of Grasping Dynamics for High Speed Transfer of Live Birds

Yin

Lee

2002

IFAC Proceedings Volumes

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Compliant grasping force modeling for handling of live objects

Cited by 12 publications

References 3 publications

Dynamic Modeling of Damping Effects in Highly Damped Compliant Fingers for Applications Involving Contacts

Dynamic Modeling of Damping Effects in Highly Damped Compliant Fingers for Applications Involving Contacts

An Adaptive Meshless Method for Modeling Large Mechanical Deformation and Contacts

Modeling and Analysis of Grasping Dynamics for High Speed Transfer of Live Birds

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