Abstract: A new design of robot gripper with electrorheological fluid (ERF)
semiactive tips is described. There are two remarkable
properties using this fingertip. One is the higher lifting
capability at little grasp force, which can realize stable
grasp. Another is the damping controllable which can be used for
controlling contact forces. A viscoelastic-plastic model for
normal direction of the fingertip is proposed to explore the
contact behavior. The electric field strength is induced into
the dynamic model of contact transition for simulations. The
simulation results and conclusions are given.
Key words: Robot Semiactive fingertip Electrorheological fluid Dynamic model Simulation
*
This project
is supported by National Natural Science Foundation of China. Manuscript received on
April 5, 1997; revised manuscript July 9, 1997
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