模拟软指尖的接触刚度,用于抓取应用程序
Xiaolong Ma1, Lingfeng Chen2, Yanfeng Gao1
1College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China.
Biomimetics (Basel, Switzerland)
|September 27, 2023
概括
这项研究引入了一种新的方法来控制机器人抓手的力量和移位,使用软的指尖. 这项研究展示了一种无传感器方法来分析接触硬度,确保在没有嵌入式传感器的情况下稳定抓取.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 材料科学 材料科学 材料科学
- 机械工程 机械工程
背景情况:
- 软的指尖提供可调节的刚性,用于机器人抓取.
- 掌握的稳定性取决于指尖和物体之间的接触刚度.
研究的目的:
- 提出基于温克勒模型的线向量表示方法来研究接触度.
- 在没有集成传感器的情况下,实现控制抓取力和指尖移位.
- 分析和评估软指尖的操纵过程.
主要方法:
- 导出软指尖的刚度矩阵.
- 分析了接触硬度,并构建了全球硬度矩阵.
- 建立了基于接触度模型的抓地度矩阵.
主要成果:
- 实验结果显示,位置误差不到9%,角度误差为5.58%.
- 由于外部力量导致的对象方向变化表明了接触力状态.
- 接触力状态是由接触硬度决定的.
结论:
- 建议的接触硬度模型是适当的.
- 理论接触硬度与实验数据一致.
- 无传感器的方法有效地控制了抓取参数.
相关概念视频
01:05Static and Kinetic Frictional Force
16.0K
One of the simpler characteristics of sliding friction is that it is parallel to the contact surfaces between systems, and is always in a direction that opposes the motion or attempted motion of the systems relative to each other. If two systems are in contact and moving relative to one another, then the friction between them is called kinetic friction. For example, kinetic friction slows a hockey puck sliding on ice.
However, if two systems are in contact and are stationary relative to one...
However, if two systems are in contact and are stationary relative to one...
16.0K
01:14Design Example: Resistive Touchscreen
335
A device engineer plays a crucial role in designing user interfaces for mobile devices. One such interface is the resistive touchscreen, which fundamentally consists of two metallic layers: a flexible upper layer and a rigid lower layer, separated by a narrow gap. The high resistance between these two layers is a key characteristic of this design.
When a user touches the screen, the two layers make contact at a specific point known as the touchpoint. This contact reduces the resistance between...
When a user touches the screen, the two layers make contact at a specific point known as the touchpoint. This contact reduces the resistance between...
335