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Authors: Pavel Dzitac 1 ; Abdul Md Mazid 2 ; Guy Littlefair 1 and Ashwin Polishetty 1

Affiliations: 1 Deakin University, Australia ; 2 Central Queensland University, Australia

Keyword(s): Gripper Design, Slippage Control, Manipulation Reliability.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation

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.

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Paper citation in several formats:
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 1: ICINCO; ISBN 978-989-758-040-6; ISSN 2184-2809, SciTePress, pages 396-401. DOI: 10.5220/0005048103960401

@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 1: ICINCO},
year={2014},
pages={396-401},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005048103960401},
isbn={978-989-758-040-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - The Effective Radius and Resistance to Slippage
SN - 978-989-758-040-6
IS - 2184-2809
AU - Dzitac, P.
AU - Mazid, A.
AU - Littlefair, G.
AU - Polishetty, A.
PY - 2014
SP - 396
EP - 401
DO - 10.5220/0005048103960401
PB - SciTePress

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