Optimum level determination of differentiated soft pad compliance parameters for robotic limbs

Abstract EN

The most studies of differentiated layer soft pad for robots’ hand fingertips have focused on the relationship between the pad compliance and parameters like compressive load, material and shape of pad.

In addition, pressure distribution of contact process should be considere .

They did not remark directly the effective set combination of above parameters on the compliance, or studied the weight of each parameter on the process of contact.

In this paper, Taguchi method has been used to investigate the optimum set of parameters (compressive load, shape and, material) that give the best flatting of pad.

Also the analysis of variance technique (ANOVA) has been employed to compare parameters and predict the contribution of each parameters the compliance.

The results explain the effective parameter is the material of soft pad not the shape.

In addition, these two methods Taguchi and ANOVA represent good techniques to estimate the effective parameter in the design of robotic hand pad.

Key words: soft fingertips for robotic hands, Taguchi method, Analysis of variance Technique.