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Computing Contact Force and Deformation in the Heavy-Duty Gripping with Over-Constraint

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Intelligent Robotics and Applications (ICIRA 2008)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5314))

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Abstract

This paper presents a method to calculate the contact force and deformation during the gripping process with over-constraint. Considering the distances between workpiece and gripper at the contact point are variable, the relative configuration of workpiece and gripper is described. This paper solves the indeterminate contact force resulting from over-constraint of workpiece-gripper system based on linear elastic model. A simulation result is present to illustrate the deformation and overall displacement of workpiece during the grasping process. This calculating method can be utilized to design and optimize heavy-duty gripper.

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Authors and Affiliations

  1. School of mechanical science and engineering, Huazhong university of science and technology, Wuhan, 430074, China

    Jincheng Mao & Wenyu Yang

Authors
  1. Jincheng Mao
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  2. Wenyu Yang
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Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, China

    Caihua Xiong , Yongan Huang  & Youlun Xiong ,  & 

  2. Institute of Industrial Research, University of Portsmouth, Burnaby Building, PO1 3QL, Portsmouth, UK

    Honghai Liu

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© 2008 Springer-Verlag Berlin Heidelberg

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Mao, J., Yang, W. (2008). Computing Contact Force and Deformation in the Heavy-Duty Gripping with Over-Constraint. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_28

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  • DOI: https://doi.org/10.1007/978-3-540-88513-9_28

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-88512-2

  • Online ISBN: 978-3-540-88513-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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