Title: Grasp stability analysis of two objects with any friction property in two dimensions

Authors: Takayoshi Yamada, Nobuharu Mimura, Yasuyuki Funahashi

Addresses: Department of Human and Information Systems, Faculty of Engineering, Gifu University, 1-1, Yanagido, Gifu-shi, Gifu 501-1193, Japan. ' Department of Biocybernetics, Faculty of Engineering, Niigata University, 2-8050, Ikarashi, Nishi-ku, Niigata 950-2181, Japan. ' Department of System Engineering of Human Body, School of Life System Science and Technology, Chukyo University, 101 Tokodachi, Kaizu-cho, Toyota-shi, Aichi 470-0393, Japan

Abstract: This paper analyses the grasp stability of two objects with any friction property in two dimensions. In the grasp of two objects, there exist multiple contact points which include one contact point between two objects and plural contact points between objects and fingers. In the previous work, all these contact points are assumed to be either only with friction or only without friction. This paper discusses a more practical grasp, in which there exist both friction contact and frictionless contact. In this case, both rolling motions and sliding motions occur simultaneously due to both friction and frictionless contact in the grasp system. The grasp stability is evaluated by the potential energy stored in the grasp system. Using numerical examples, the effect of friction is demonstrated. This evaluation method is applicable to fixture position planning.

Keywords: grasp stability; multiple objects; rolling contact; sliding contact; multifingered hand; fixture position planning; friction properties; contact points; fingers; frictionless contact; motion; grasp systems; product development; production design; production management; advanced production systems.

DOI: 10.1504/IJPD.2010.029997

International Journal of Product Development, 2010 Vol.10 No.1/2/3, pp.273 - 289

Available online: 03 Dec 2009 *

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