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The effective radius and resistance to slippage

Dzitac,P, Md Mazid,A, Littlefair,G and Polishetty,A 2014, The effective radius and resistance to slippage, in ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics, IEEE, Piscataway, N.J., pp. 396-401.

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Title The effective radius and resistance to slippage
Author(s) Dzitac,P
Md Mazid,A
Littlefair,G
Polishetty,AORCID iD for Polishetty,A orcid.org/0000-0002-8572-6024
Conference name Informatics in Control, Automation and Robotics. Conference (11th : 2014 : Vienna, Austria)
Conference location Vienna, Austria
Conference dates 2014/9/1 - 2014/9/3
Title of proceedings ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics
Editor(s) Filipe,J
Gusikhin,O
Madani,K
Sasiadek,J
Publication date 2014
Conference series International Conference on Informatics in Control, Automation and Robotics
Start page 396
End page 401
Total pages 6
Publisher IEEE
Place of publication Piscataway, N.J.
Keyword(s) Gripper design
Manipulation reliability
Slippage control
Summary 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.
ISBN 9789897580406
Language eng
Field of Research 091006 Manufacturing Processes and Technologies (excl Textiles)
091007 Manufacturing Robotics and Mechatronics (excl Automotive Mechatronics)
091302 Automation and Control Engineering
Socio Economic Objective 861403 Industrial Machinery and Equipment
HERDC Research category E1 Full written paper - refereed
ERA Research output type E Conference publication
Copyright notice ©2014, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30072685

Document type: Conference Paper
Collection: School of Engineering
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