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Soft contact manipulation of a rigid objectusing multibond graph

Rathee Raul, Narwal Anil Kumar, Vaz Anand

Computer Assisted Methods in Engineering and Science

2021

Vol. 28, no. 4

321--349

Dexterous manipulation of a rigid object using artificial soft fingers is not easy to achieve.Instantaneous contact areas and the distribution of contact forces at the interfaces changedynamically during the soft contact manipulation of the object. A bond graph modelfor dynamics of the soft contact manipulation of a rigid object using two soft pads is developed. A cylindrical disc is used as the rigid object to be manipulated between two softsilicon rubber pads considered in place of soft fingertips, one above and the other below.The disc is grasped and rolled between the two pads so its center follows a desired horizontal displacement trajectory. A closed-loop feedback control system generates the requiredforce to grasp and control the instantaneous position of the disc’s center. The model determines the instantaneous contact forces required for the desired manipulation. Simulationresults validate the model.