Abstract
Different from dexterous robotic hands, the contact status of a two-finger heavy duty gripper between the two tongs and the object are much complex during forging operation, and the contact forces are difficult to be controlled in real-time, because the tong usually is designed to rotate freely around the arm to some extent, and the contact area is usually a surface or a line. Based on the force-closure condition to meet the force and the torque equilibrium equations, this paper presents a real-time calculation model considering the gripping contact areas as equivalent friction points for N robot fingers including four contact points for the heavy gripper gripping a cylinder object. Then the contact force optimization method for multi-fingered hand researches can be used for the gripping forces’ calculation between gripper tongs and the forged object, and the task is formulated as an optimization problem on the smooth manifold of linearly constrained positive definite matrices, which has globally exponentially convergent solutions via gradient flows. This is a new approach to optimize the gripping forces in real-time for the gripper’s design and control of heavy forging manipulators. Simulation and experimental results are analyzed.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Wantanabe, T., Yoshikawa, T.: Grasping optimization using a required external force set. IEEE Trans. Robotics and Automation 44(1), 52–66 (2007)
Buss, M., Hashimoto, H., Moore, J.B.: Dextrous hand grasping force optimization. IEEE Trans. Robotics and Automation 12(3), 406–417 (1996)
Bicchi, A.: On the closure properties of robotics grasping. Int. J. Robotics Research 4(4), 319–334 (1995)
Han, L., Trinkle, J.C., Li, Z.X.: Grasp analysis as linear matrix inequality problems. IEEE Trans. Robotics and Automation 16(6), 663–674 (2000)
Murray, R.M., Li, Z.X., Sastry, S.S.: A mathematical Introduction to robotic manipulation, ch. 5. CRC Press, New York (1994)
Wang, B., Li, J., Liu, H.: Optimal grasping force computation for multi-fingered robot hand. J. Jilin University 38(1), 178–182 (2008)
Han, U., Huper, K., Moore, J.B.: Quadratically convergent algorithms for optimal dextrous hand grasping. IEEE Trans. Robotics and Automation 18(2), 138–145 (2002)
Li, Q., Gao, D., Deng, H.: Influence of Contact Forces on Stable Gripping for Large-Scale heavy Manipulator. In: Xiong, C.-H., Liu, H., Huang, Y., Xiong, Y.L. (eds.) ICIRA 2008. LNCS (LNAI), vol. 5315, pp. 839–847. Springer, Heidelberg (2008)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Li, Q., Gao, D., Deng, H. (2009). Modeling and Optimization of Contact Forces for Heavy Duty Robot Grippers. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds) Intelligent Robotics and Applications. ICIRA 2009. Lecture Notes in Computer Science(), vol 5928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10817-4_67
Download citation
DOI: https://doi.org/10.1007/978-3-642-10817-4_67
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-10816-7
Online ISBN: 978-3-642-10817-4
eBook Packages: Computer ScienceComputer Science (R0)