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International Journal of

Recent Trends in Engineering

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International Journal of Recent Trends in Engineering (IJRTE)

ISSN 1797-9617

Volume 1, Number 5, May 2009

Issue on Mechanical Engineering

Page(s): 5-9

Development of Contact Model of a Robot Soft Finger for Power Grasping and Determination of Its Contact width

Elango.N and Marappan.R

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Abstract

A contact model of a robot soft hand is developed for power grasping based on the geometrical relationship between contact parameters such as deformation, contact width and touch angle. The proposed nonlinear cylindrical soft finger deforms on the application of normal load and contact surface and touch angle grow correspondingly. The deformation and contact width are related to touch angle. The force relationship between contact parameters and geometrical data is then derived. The developed analytical model enables to determine the total contact force at the contact surface during manipulation. The validation of the model is done by conducting experiments with artificial fingers of different hyper elastic materials. The contact area is determined by measuring contact width experimentally. The developed soft finger model and its force function can be usefully applied to soft fingered object manipulations in future.

Index Terms

hyper elastic, power grasping, precision grasping

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