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The effective radius and resistance to slippage

Version 2 2024-06-06, 11:45
Version 1 2015-04-24, 12:10
conference contribution
posted on 2024-06-06, 11:45 authored by P Dzitac, A Md Mazid, G Littlefair, A Polishetty
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.

History

Volume

2

Pagination

396-401

Location

Vienna, Austria

Start date

2014-09-01

End date

2014-09-03

ISBN-13

9789897580406

Language

eng

Publication classification

E Conference publication, E1 Full written paper - refereed

Copyright notice

2014, IEEE

Editor/Contributor(s)

Filipe J, Gusikhin O, Madani K, Sasiadek J

Title of proceedings

ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics

Event

Informatics in Control, Automation and Robotics. Conference (11th : 2014 : Vienna, Austria)

Publisher

IEEE

Place of publication

Piscataway, N.J.