Influence of the Object Stiffness on the Grasp Stability with Compliant Hand Based on Energetic Approach - Archive ouverte HAL Access content directly
Conference Papers Year : 2020

Influence of the Object Stiffness on the Grasp Stability with Compliant Hand Based on Energetic Approach

Abstract

This article presents a stability analysis of object grasping with a compliant multi-fingered robot hand considering the influence of the flexibility of the grasped object on this stability. In this stability analysis we aimed to compute the maximum disturbance that can be withstood by a compliant hand-object system before being destabilized. Here, the case of objects with a compliant behavior that can be synthesized in a stiffness matrix is addressed. The specific example of beam objects and cylindrical grasps is investigated, a computation of the local stiffness matrix of the beam object is proposed using Euler-Bernoulli theory for beam deflection and the influence of the Young modulus of the beam on the stability is evaluated.

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Automatic

Dates and versions

hal-03106621 , version 1 (11-01-2021)

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Cite

Ugo Vollhardt, Maria Makarov, Alex Caldas, Mathieur Grossard, Pedro Rodriguez-Ayerbe. Influence of the Object Stiffness on the Grasp Stability with Compliant Hand Based on Energetic Approach. IFAC 2020 - 21st IFAC World Congress, Jul 2020, Berlin, Germany. pp.9905-9911, ⟨10.1016/j.ifacol.2020.12.2698⟩. ⟨hal-03106621⟩
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