Effects of material properties on soft contact dynamics

A. Khurshid, A. Ghafoor, M. A. Malik

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The superiority of deformable human fingertips as compared to hard robot gripper fingers for grasping and manipulation has led to a number of investigations with robot hands employing elastomers or materials such as fluids or powders beneath a membrane at the fingertips. In this paper, to analyze the stability of dynamic control of an object grasped between two soft fingertips through a soft interface using the viscoelastic material between the manipulating fingers and a manipulated object is modeled through bond graph method (BGM). The fingers are made viscoelastic by using springs and dampers. Detailed bond graph modeling (BGM) of the contact phenomenon with two soft-finger contacts considered to be placed against each other on the opposite sides of the grasped object as is generally the case in a manufacturing environment is presented. The stiffness of the springs is exploited in order to achieve the stability in the softgrasping which includes friction between the soft finger contact surfaces and the object, The paper also analyses stability of dynamic control through a soft interface between a manipulating finger and a manipulated object. It is shown in the paper that the system stability depends on the viscoelastic material properties of the soft interface. Method of root locus is used to analyze this phenomenon. The paper shows how the weight of the object coming downward is controlled by the friction between the fingers and the object during the application of contact forces by varying the damping and the stiffness in the soft finger.

Original languageEnglish
Title of host publicationKey Engineering Materials
Pages438-444
Number of pages7
Volume442
DOIs
Publication statusPublished - 2010
Event11th International Symposium on Advanced Materials, ISAM-2009 - Islamabad, Pakistan
Duration: Aug 8 2009Aug 12 2009

Publication series

NameKey Engineering Materials
Volume442
ISSN (Print)10139826

Other

Other11th International Symposium on Advanced Materials, ISAM-2009
CountryPakistan
CityIslamabad
Period8/8/098/12/09

Fingerprint

Materials properties
Stiffness
Robots
Friction
Elastomers
Root loci
Grippers
End effectors
System stability
Powders
Damping
Membranes
Fluids

Keywords

  • Bond graphs
  • Dynamic control
  • Fine manipulation
  • Grasping
  • Stability
  • Viscoelastic material
  • Viscoelasticity

ASJC Scopus subject areas

  • Materials Science(all)
  • Mechanics of Materials
  • Mechanical Engineering

Cite this

Khurshid, A., Ghafoor, A., & Malik, M. A. (2010). Effects of material properties on soft contact dynamics. In Key Engineering Materials (Vol. 442, pp. 438-444). (Key Engineering Materials; Vol. 442). https://doi.org/10.4028/www.scientific.net/KEM.442.438

Effects of material properties on soft contact dynamics. / Khurshid, A.; Ghafoor, A.; Malik, M. A.

Key Engineering Materials. Vol. 442 2010. p. 438-444 (Key Engineering Materials; Vol. 442).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Khurshid, A, Ghafoor, A & Malik, MA 2010, Effects of material properties on soft contact dynamics. in Key Engineering Materials. vol. 442, Key Engineering Materials, vol. 442, pp. 438-444, 11th International Symposium on Advanced Materials, ISAM-2009, Islamabad, Pakistan, 8/8/09. https://doi.org/10.4028/www.scientific.net/KEM.442.438
Khurshid A, Ghafoor A, Malik MA. Effects of material properties on soft contact dynamics. In Key Engineering Materials. Vol. 442. 2010. p. 438-444. (Key Engineering Materials). https://doi.org/10.4028/www.scientific.net/KEM.442.438
Khurshid, A. ; Ghafoor, A. ; Malik, M. A. / Effects of material properties on soft contact dynamics. Key Engineering Materials. Vol. 442 2010. pp. 438-444 (Key Engineering Materials).
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