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Assessment on the contact factors of a sandwich soft finger model – An experimental investigation

  • K. Venkatesh Raja und R. Malayalamurthi
Veröffentlicht/Copyright: 12. Mai 2015
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International Journal of Materials Research
Aus der Zeitschrift International Journal of Materials Research Band 106 Heft 5

Abstract

The bio-mechanics of skin and bone play a crucial role in dexterous object manipulations and artificial robotic gripper design. Establishing a quantitative relationship between imposed loads and contact factors is necessary to understand the governing mechanics behind it. Towards this goal, experimental investigations on the contact parameters of a sandwich soft fingertip comprising a soft layer and solid core are presented. The influence of soft layer stratum and material grades on the power law equation is investigated by introducing a new dimensionless parameter – Power Factor. The results clearly indicate that the power index “γ” is dependent on the material as well as shell thickness and in addition the proportionality constant “C” is dependent on the geometry. Also, the magnitude of both the constants increases with power factor and saturates at a value of ≈1.25. Numerical simulation is performed to support the experimental results. Finally, an optimum ratio of power factor is determined and the number ≈1.25 is critical in designing the artificial robotic sandwich fingertip.

Keywords: Contact mechanics; Anthropomorphic finger design; Robotic gripper; Power factor
* Correspondence address, Mr. K. Venkatesh Raja, Assistant Professor (Sr.), Department of Automobile Engineering, K.S.R. College of Engineering, Tiruchengode – 637215, Namakkal (Dt.), Tamil Nadu, India, Tel.: +91 4288 272741, Fax: +91 4288 272741, E-mail:

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Received: 2014-09-03
Accepted: 2014-12-17
Published Online: 2015-05-12
Published in Print: 2015-05-13

© 2015, Carl Hanser Verlag, München

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  14. Assessment on the contact factors of a sandwich soft finger model – An experimental investigation
  15. Reducing debinding time in thick components fabricated by powder injection molding
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  17. Rapid synthesis of Ag nanoparticles and Ag@SiO2 core–shells
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https://doi.org/10.3139/146.111206
Schlagwörter für diesen Artikel
Contact mechanics; Anthropomorphic finger design; Robotic gripper; Power factor

Artikel in diesem Heft

  1. Contents
  2. Contents
  3. Original Contributions
  4. Thermodynamic description of the Ti–O system
  5. Influence of MgO on the phase equilibria in the CuOx–FeOy–MgO–SiO2 system in equilibrium with copper alloy – Part I: methodology and liquidus in the tridymite primary phase field
  6. Experimental phase diagram of the V–Si–Ho ternary system
  7. Experimental study of the phase relationships in the Al-rich corner of the Al–Si–Fe–Cr quaternary system at 700 °C
  8. Effect of quench–ageing treatment on the microstructure and properties of Zn-15Al-3Cu alloy
  9. Grain growth and thermal stability in nanocrystalline Fe–B alloys prepared by melt spinning
  10. Microatmosphere sintering of Fe-3.2Mn-1.5Si-0.5C steel in flowing technical nitrogen
  11. Structural, thermal and optical studies of nanocomposite powder NiSb + Sb produced by mechanical alloying
  12. Effect of Mo/B atomic ratio on the properties of Mo2NiB2-based cermets
  13. Improving the stoichiometry of RF-sputtered amorphous alumina thin films by thermal annealing
  14. Assessment on the contact factors of a sandwich soft finger model – An experimental investigation
  15. Reducing debinding time in thick components fabricated by powder injection molding
  16. Short Communications
  17. Rapid synthesis of Ag nanoparticles and Ag@SiO2 core–shells
  18. Electrical conductivity of bismuth doped dysprosia stabilized zirconia as an electrolyte material for SOFC
  19. People
  20. Prof. Dr.-Ing. Lorenz Singheiser on the occasion of his 65th birthday
  21. DGM News
  22. DGM News
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