A model-based study on the mechanical behaviour of hemispherical soft fingertip
by Yang Liu; Wenchuan Jia; Chao Li
International Journal of Computer Applications in Technology (IJCAT), Vol. 53, No. 2, 2016

Abstract: Soft material in the fingertip of a robotic hand has been widely used to ensure stable grasping. Nevertheless in order to control grasping force with the presence of non-linear properties of soft fingertip, a stiffness model that can achieve precise description and fast calculation is needed. In this paper, a new two-dimensional stiffness model of a hemispherical soft fingertip is presented. The principle of computing elastic force when the contacting plane rotates is discussed. The logarithmic strain is employed in the measurement of Young's modulus to be consistent with the stiffness model. Finally the modelled vertical stiffness is verified experimentally by compressing a hemispherical soft fingertip. The results prove that the modelling method can be effectively applied to soft contact mechanics.

Online publication date: Sun, 31-Jan-2016

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