Modelling and Simulation of a Manipulator with Stable Viscoelastic Grasping Incorporating Friction.

Khurshid, A., Khan, Z. A., Chacko, V., Ghafoor, A., Malik, M.A. and Ayaz, Y., 2016. Modelling and Simulation of a Manipulator with Stable Viscoelastic Grasping Incorporating Friction. Tribology in Industry, 38 (4), pp. 559-574.

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Abstract

Design, dynamics and control of a humanoid robotic hand based on anthropological dimensions, with joint friction, is modelled, simulated and analysed in this paper by using computer aided design and multibody dynamic simulation. Combined joint friction model is incorporated in the joints. Experimental values of coefficient of friction of grease lubricated sliding contacts representative of manipulator joints are presented. Human fingers deform to the shape of the grasped object (enveloping grasp) at the area of interaction. A mass-spring-damper model of the grasp is developed. The interaction of the viscoelastic gripper of the arm with objects is analysed by using Bond Graph modelling method. Simulations were conducted for several material parameters. These results of the simulation are then used to develop a prototype of the proposed gripper. Bond graph model is experimentally validated by using the prototype. The gripper is used to successfully transport soft and fragile objects. This paper provides information on optimisation of friction and its inclusion in both dynamic modelling and simulation to enhance mechanical efficiency.

Item Type:Article
ISSN:0354-8996
Uncontrolled Keywords:Anthropomorphic arm ; Computer aided design ; Multi-body mechanics simulation ; Dynamics ; Joint friction ; Bond graph model ; Viscoelasticity
Group:Faculty of Science & Technology
ID Code:25756
Deposited By: Unnamed user with email symplectic@symplectic
Deposited On:03 Jan 2017 14:23
Last Modified:10 Jan 2017 15:29

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