Negative Stiffness Analysis and Regulation of In-Hand Manipulation with Underactuated Compliant Hands
Wenrui Chen, Qiang Diao, Yaonan Wang, Xiaodong Zhou, Qiang Zhang, Cuo Yan, Zhiyong Li
Abstract
This paper addresses the generation mechanism and avoidance method of negative stiffness during in-Hand manipulation with underactuated compliant hands. Firstly, a planar hand with two three-jointed fingers manipulating a rectangular is set, and a quasi-static underactuated operation model is established. Secondly, based on this simulation model, we investigated the stiffness evolution during in-hand manipulation, and analyze the influence factors of system stiffness. Finally, a stiffness regulation method is developed to avoid negative stiffness during in-hand manipulation. The method is validated by simulation. The research results are beneficial to improve the performance of underactuated in-hand manipulation.
BibTeX
@inproceedings{icra2022_negativestiffnes,
title = {Negative Stiffness Analysis and Regulation of In-Hand Manipulation with Underactuated Compliant Hands},
author = {Wenrui Chen and Qiang Diao and Yaonan Wang and Xiaodong Zhou and Qiang Zhang and Cuo Yan and Zhiyong Li},
booktitle = {ICRA 2022},
year = {2022}
}