The Effective Radius and Resistance to Slippage

Pavel Dzitac, Abdul Md Mazid, Guy Littlefair, Ashwin Polishetty

2014

Abstract

This work reveals that parallel gripper flat-jaw configuration affects grasping effectiveness. An important finding is the fact that object grasp reliability is influenced significantly by gripper’s ability to develop high resistance to object rotation in the gripper. The concept of effective torque radius, which increases resistance to object rotation in the gripper, is presented here and can be extrapolated to other grasping devices and grasping strategies to improve their reliability and make them more effective. Grippers with full-jaw contact surface and those with discrete contact areas have been investigated using simple experimental setups. Essential mathematical models needed for analytical investigation, based on simple mechanics for full-jaw contact surfaces and discrete-jaw contact surfaces, are presented. These may be useful for gripper jaw design purposes.

Paper Citation

in Harvard Style

Dzitac P., Mazid A., Littlefair G. and Polishetty A. (2014). The Effective Radius and Resistance to Slippage . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 396-401. DOI: 10.5220/0005048103960401

in Bibtex Style

@conference{icinco14,
author={Pavel Dzitac and Abdul Md Mazid and Guy Littlefair and Ashwin Polishetty},
title={The Effective Radius and Resistance to Slippage},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={396-401},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005048103960401},
isbn={978-989-758-040-6},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - The Effective Radius and Resistance to Slippage
SN - 978-989-758-040-6
AU - Dzitac P.
AU - Mazid A.
AU - Littlefair G.
AU - Polishetty A.
PY - 2014
SP - 396
EP - 401
DO - 10.5220/0005048103960401