書誌事項
- タイトル別名
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- Grip Force Control by Detecting the Internal Strain Distribution Inside the Elastic Finger Having Curved Surface.
抄録
In this study we propose a method for controlling contact force when object is lifted by fingers having curved surface without producing whole slip or applying excessive force even when the weight and the friction coefficient of the object are unknown. The deformation of the elastic finger when the finger is in contact with the object with/without tangential load is calculated by using a FE (finite eloment) analysis. It is found that the partial incipient slip region at the contact surface changes due to the change of the tangential force. It is also found that the internal shear strain distribution is in relation with the partial incipient slip at the contact surface during the precision grip. From this, we can conclude that we can obtain the tangential force change from the shear strain distribution inside the elastic body.
収録刊行物
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- 日本機械学会論文集C編
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日本機械学会論文集C編 64 (620), 1258-1265, 1998
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390282681304230528
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- NII論文ID
- 130004083745
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- ISSN
- 18848354
- 03875024
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可