On the Dynamic Stability of Grasping

Chen, Xiong; Li, Youfu; Ding, Han; Xiong, Yan

doi:10.1177/02783649922066682

Cited by 63 publications

(29 citation statements)

References 12 publications

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“…Examples include [8], [12], [20], [30], [37], [38], [48], and [50]. These examples are based on linear spring models [19] or the classical Hertz model [22].…”

Section: Modeling Of Compliant Fixturesmentioning

confidence: 99%

Constructing minimum deflection fixture arrangements using frame invariant norms

Lin

Burdick

Rimon

2006

IEEE Trans. Automat. Sci. Eng.

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Abstract-This paper describes a fixture planning method that minimizes object deflection under external loads. The method takes into account the natural compliance of the contacting bodies and applies to two-dimensional and three-dimensional quasirigid bodies. The fixturing method is based on a quality measure that characterizes the deflection of a fixtured object in response to unit magnitude wrenches. The object deflection measure is defined in terms of frame-invariant rigid body velocity and wrench norms and is therefore frame invariant. The object deflection measure is applied to the planning of optimal fixture arrangements of polygonal objects. We describe minimum-deflection fixturing algorithms for these objects, and make qualitative observations on the optimal arrangements generated by the algorithms. Concrete examples illustrate the minimum deflection fixturing method.Note to Practitioners-During fixturing, a workpiece needs to not only be stable against external perturbations, but must also stay within a specified tolerance in response to machining or assembly forces. This paper describes a fixture planning approach that minimizes object deflection under applied work loads. The paper describes how to take local material deformation effects into account, using a generic quasirigid contact model. Practical algorithms that compute the optimal fixturing arrangements of polygonal workpieces are described and examples are then presented.

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“…Examples include [8], [12], [20], [30], [37], [38], [48], and [50]. These examples are based on linear spring models [19] or the classical Hertz model [22].…”

Section: Modeling Of Compliant Fixturesmentioning

confidence: 99%

Constructing minimum deflection fixture arrangements using frame invariant norms

Lin

Burdick

Rimon

2006

IEEE Trans. Automat. Sci. Eng.

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“…Xiong et al [7] propose a quantitative measure for evaluating what they call the dynamic stability of a grasp, obtained using the Lyapunov stability concept and assuming soft fingertips and rolling contacts. Though their approach is rather analytical, some of the concepts they introduce have been useful in defining the final set of features.…”

Section: Previous Researchmentioning

confidence: 99%

“…S2. TRIANGLE SIZE: As a conclusion of their dynamic stability analysis, Xiong et al [7] state that, the larger the area of the grasping triangle, the more stable a grip is. This condition is also similar to what was proposed in [6].…”

Section: Shared Featuresmentioning

confidence: 99%

Visual Quality Measures for Characterizing Planar Robot Grasps

Chinellato

Morales

Fisher

et al. 2005

IEEE Trans. Syst., Man, Cybern. C

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Abstract-This paper presents and analyses twelve quality measures that characterize robotic grips according to their stability and reliability. The measures are designed to assess three-finger grips of 2D parts performed in a real environment, taking into account both theoretical aspects and unavoidable uncertainties of a grasping action. They build on the existing literature and on physical and mechanical considerations. The measures constitute a feature space that pattern recognition methods can use in order to classify robotic grips according to their quality. Six of the measures depend on the actual finger configuration of the gripper, and they have shown to be critical for a better characterization. The kinematics of the Barrett Hand has been used. As a validation step, the measures are merged in two global quality values (with different practical applicability) that can be used to rank feasible candidate grips.

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“…Early papers model material compliance by linear springs that act in tandem with a rigid-body Coulomb friction law [1,10]. A positive definite Hessian matrix of the springs' elastic potential energy ensures stability of such grasps [29,47]. However, the linear spring approach is not supported by the solid mechanics literature.…”

Section: Introductionmentioning

confidence: 99%

On the mechanics of natural compliance in frictional contacts and its effect on grasp stiffness and stability

Shapiro

Rimon

Burdick

2004

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004

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This paper considers the effect of natural material compliance on the stiffness and stability of frictional multi-contact grasps and fixtures. The contact preload profile is a key parameter in the nonlinear compliance laws governing such contacts. The paper introduces the Hertz-Walton contact compliance model which is valid for linear contact loading profiles. The model is specified in a lumped parameter form suitable for on-line grasping applications, and is entirely determined by the contact friction and by the material and geometric properties of the contacting bodies. The model predicts an asymmetric stiffening of the tangential reaction force as the normal load at the contact increases. As a result, the composite stiffness matrix of multi-contact grasps governed by natural compliance effects is asymmetric, indicating that these contact arrangements are not governed by any potential energy function. Based on the compliant grasp dynamics, the paper derives rules indicating which contact point locations and what preload profiles guarantee grasp and fixture stability. The paper also describes preliminary experiments supporting the contact model predictions.

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On the Dynamic Stability of Grasping

Abstract: Stability is one of the important properties that a robot hand grasp

Cited by 63 publications

References 12 publications

Constructing minimum deflection fixture arrangements using frame invariant norms

Constructing minimum deflection fixture arrangements using frame invariant norms

Visual Quality Measures for Characterizing Planar Robot Grasps

On the mechanics of natural compliance in frictional contacts and its effect on grasp stiffness and stability

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