Slip detection for a specific design of fingertip in multi-direction under different load conditions
العناوين الأخرى
كشف الانزلاق لتصميم معين لرأس الأصبع في اتجاهات متعددة و تحت ظروف حمل مختلفة
المؤلفون المشاركون
Baqir, Ihsan Abd al-Husayn
Abd al-Razzaq, Haydar Ahmad
Tawfiq, Muwaffaq Ali
المصدر
Journal of Engineering and Sustainable Development
العدد
المجلد 23، العدد 1 (31 يناير/كانون الثاني 2019)، ص ص. 103-116، 14ص.
الناشر
الجامعة المستنصرية كلية الهندسة
تاريخ النشر
2019-01-31
دولة النشر
العراق
عدد الصفحات
14
التخصصات الرئيسية
الملخص EN
In this paper, a novel design of robotic fingertip has been proposed to detect slippage between the robotic fingertip and the grasped object in multi-direction under different types of loads (static and dynamic loads).
The detection process is based on the monitoring of variation in the normal to the tangential component of contact force ratios.
The fingertip is composed of a compression springs and a conventional force sensors that are mounted to be able to measure the contact force components continuously.
A mathematical model has been derived relative to a proposed design with the help of Matlab-Simulink program.
Furthermore, the robotic hand mechanism contains the flexible parts to adapt the grasping force during the slippage occurrence period in spite of the hand actuator is in a stopped status.
The grasped object is designed in a cube shape with two unbalance DC motors to generate an excitation that is used as an external dynamic load.
The experimental results revealed that the proposed design for detecting slippage in multi-direction is feasible and effective for improving the stability of the grasping In this paper, a novel design of robotic fingertip has been proposed to detect slippage between the robotic fingertip and the grasped object in multi-direction under different types of loads (static and dynamic loads).
The detection process is based on the monitoring of variation in the normal to the tangential component of contact force ratios.
The fingertip is composed of a compression springs and a conventional force sensors that are mounted to be able to measure the contact force components continuously.
A mathematical model has been derived relative to a proposed design with the help of Matlab-Simulink program.
Furthermore, the robotic hand mechanism contains the flexible parts to adapt the grasping force during the slippage occurrence period in spite of the hand actuator is in a stopped status.
The grasped object is designed in a cube shape with two unbalance DC motors to generate an excitation that is used as an external dynamic load.
The experimental results revealed that the proposed design for detecting slippage in multi-direction is feasible and effective for improving the stability of the grasping process.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Tawfiq, Muwaffaq Ali& Baqir, Ihsan Abd al-Husayn& Abd al-Razzaq, Haydar Ahmad. 2019. Slip detection for a specific design of fingertip in multi-direction under different load conditions. Journal of Engineering and Sustainable Development،Vol. 23, no. 1, pp.103-116.
https://search.emarefa.net/detail/BIM-1113840
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Tawfiq, Muwaffaq Ali…[et al.]. Slip detection for a specific design of fingertip in multi-direction under different load conditions. Journal of Engineering and Sustainable Development Vol. 23, no. 1 (Jan. 2019), pp.103-116.
https://search.emarefa.net/detail/BIM-1113840
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Tawfiq, Muwaffaq Ali& Baqir, Ihsan Abd al-Husayn& Abd al-Razzaq, Haydar Ahmad. Slip detection for a specific design of fingertip in multi-direction under different load conditions. Journal of Engineering and Sustainable Development. 2019. Vol. 23, no. 1, pp.103-116.
https://search.emarefa.net/detail/BIM-1113840
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
-
رقم السجل
BIM-1113840
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر