Slip detection for a specific design of fingertip in multi-direction under different load conditions
Other Title(s)
كشف الانزلاق لتصميم معين لرأس الأصبع في اتجاهات متعددة و تحت ظروف حمل مختلفة
Joint Authors
Baqir, Ihsan Abd al-Husayn
Abd al-Razzaq, Haydar Ahmad
Tawfiq, Muwaffaq Ali
Source
Journal of Engineering and Sustainable Development
Issue
Vol. 23, Issue 1 (31 Jan. 2019), pp.103-116, 14 p.
Publisher
al-Mustansyriah University College of Engineering
Publication Date
2019-01-31
Country of Publication
Iraq
No. of Pages
14
Main Subjects
Abstract 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.
American Psychological Association (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
Modern Language Association (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
American Medical Association (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
Data Type
Journal Articles
Language
English
Notes
-
Record ID
BIM-1113840