Secure Grasping Effect of Soft-fingered Manipulating Motions with Minimum D. O. F. Robotic Hand

Abstract

This paper shows that a secure grasping of an object using a soft-fingered robotic hand is. easily achieved by adopting a two-dimensional soft finger model, which is evolved from an elastic force model derived in our previous study. After described the formulating process of the two-dimensional model, we derive normal and tangential constraints that appear during manipulating motions of the minimum d. o. f. two-fingered hand. Next, we formulate the Lagrangian and equations of motion of the hand system dealt in this paper. Then, we present a constraint stabilization method (CSM) dealing with holonomic and nonholonomic constraints, which is an effective tool to conduct the numerical simulation of a mechanical system with constraints. Finally, we validate the numerical algorithm and show the effect of secure grasping by evaluating the simulation results.