Type
Text
Type
Dissertation
Advisor
Kao, Imin | Robert V. Kukta | Chad S. Korach | Yu Zhou | Makoto Kaneko.
Date
2010-12-01
Keywords
Mechanical Engineering | Contact Modeling, Robotic Grasping/Manipulation, Sensing Interpretation, Viscoelasticity
Department
Department of Mechanical Engineering
Language
en_US
Source
This work is sponsored by the Stony Brook University Graduate School in compliance with the requirements for completion of degree.
Identifier
http://hdl.handle.net/11401/72692
Publisher
The Graduate School, Stony Brook University: Stony Brook, NY.
Format
application/pdf
Abstract
Viscoelasticity is a phenomenon of time-dependent strain and/or stress in elastic solids. Various contact interfaces with anthropomorphic end-effectors and polymeric solids found in robots and manipulators are intrinsically viscoelastic. It is therefore important to model such behavior and to study the effects of such time-dependent strain and stress on the stability and sustainability of grasping and manipulation. Both theoretical modeling and experimental study are presented in this dissertation. In theoretical modeling, a new nonlinear latency model is proposed for the application of contact interface involving viscoelasticity in robotics. Latency model can describe well various features of viscoelastic materials, such as stress relaxation, creep, and strain stiffening. The theoretical modeling was supported by experiments and computational simulation. Experiments were conducted by applying displacement-based control to study the stress relaxation and force-based control to explore the creep phenomenon, respectively, in order to validate the proposed theory. The experimental results of viscoelastic responses were observed, and found to match well with the proposed model as well as simulation results.
Recommended Citation
TSAI, CHIA-HUNG Dylan, "Nonlinear Modeling on Viscoelastic Contact Interface: Theoretical Study and Experimental Validation" (2010). Stony Brook Theses and Dissertations Collection, 2006-2020 (closed to submissions). 1895.
https://commons.library.stonybrook.edu/stony-brook-theses-and-dissertations-collection/1895