Computational models for predicting the deflected shape of a non-uniform, flexible finger
Journal
Proceedings - IEEE International Conference on Robotics and Automation
Journal Volume
2004
Journal Issue
3
Start Page
2963
End Page
2968
ISSN
10504729
ISBN (of the container)
9780818634529
9781728173955
0818634529
0818627204
9781479969234
0780365763
9780780389144
9781538660263
078034300X
9781612843865
Date Issued
2004
Author(s)
Abstract
Motivated by the applications of flexible fingers (capable of offering large deflections to accommodate object variations) in grasping, we present several computational models that characterize the large deflection of a flexible finger (beam). Specifically, we develop analytical methods for analyzing the design of cantilever-like fingers or elements of a machine that is designed primarily to support forces acting perpendicular to the axis of the member. Both uniform and non-uniform beams are considered. The methods were numerically validated by comparing the computed results against those obtained using the closed-form solutions, where exact solutions are available for fingers with a uniform cross-section. To extend the closed-form solution for predicting the shape of a non-uniform finger, we compute numerically an effective EI that approximates the non-uniform finger as a uniform finger at the point of contact. The approximate model has been examined experimentally. The results show excellent agreement. We expect that the methods presented here will have other engineering applications.
Event(s)
Proceedings- 2004 IEEE International Conference on Robotics and Automation
Subjects
Beam Theory
Flexible Fingers
Grasping
Handling
Beam Theory
Flexible Beam Models
Flexible Fingers
Grasping
Approximation Theory
Boundary Conditions
Differential Equations
Elastic Moduli
Finite Element Method
Flexible Manipulators
Force Control
Kinetic Energy
Mathematical Models
Microelectromechanical Devices
Motion Control
Robotics
Description
Proceedings- 2004 IEEE International Conference on Robotics and Automation. New Orleans, LA. conference code:63201
Type
conference paper