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New models for a class of adhesive grippers. The hemivariational inequality approach

Stavroulakis Georgios, Panagiotopoulos, P. D., 1950-, Goeleven, D

Απλή Εγγραφή


URIhttp://purl.tuc.gr/dl/dias/7E758D3F-74AC-47DF-983E-679A3E0B11B1-
Αναγνωριστικόhttps://doi.org/10.1007/BF00787139-
Γλώσσαen-
Μέγεθος12 pagesen
ΤίτλοςNew models for a class of adhesive grippers. The hemivariational inequality approachen
ΔημιουργόςStavroulakis Georgiosen
ΔημιουργόςΣταυρουλακης Γεωργιοςel
ΔημιουργόςPanagiotopoulos, P. D., 1950-en
ΔημιουργόςGoeleven, Den
ΕκδότηςSpringer Verlagen
ΠερίληψηA hemivariational inequality model for adhesive grasping problems is proposed and studied in this paper. The unilateral frictionless and frictional contact effects between the fingertips and the grasping object that lead to linear complementarity problems with singular matrices for the study of static equilibrium of the gripper-object system are generalized here to cover adhesive multifingered grippers. Adhesive effects are modelled by appropriately defined, generally nonconvex, yield sets in the space of contact stresses, friction stresses, gaps or frictional slips and their combinations. The hemivariational inequality problem that arises may involve copositive plus, symmetric matrices and nonempty closed sets for the frictionless gripper problem and copositive plus, nonsymmetric matrices with starshaped sets for the frictional case. Solvability conditions that guarantee the existence of a solution to the gripper problem are given. They specify the conditions which are required to hold between external forces, fingertip mechanical behavior and finger placement in order to solve the gripper problem.en
ΤύποςPeer-Reviewed Journal Publicationen
ΤύποςΔημοσίευση σε Περιοδικό με Κριτέςel
Άδεια Χρήσηςhttp://creativecommons.org/licenses/by/4.0/en
Ημερομηνία2015-10-12-
Ημερομηνία Δημοσίευσης1996-
Βιβλιογραφική ΑναφοράG. E. Stavroulakis, D. Goeleven, P. D. Panagiotopoulos," New models for a class of adhesive grippers. The hemivariational inequality approach," Arch. of App.Mech., vo.67, no.1, pp. 50-61.Dec.r 1996.doi:10.1007/BF00787139en

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