## Analysis of contact-impact dynamics of soft finger tapping system by using hybrid computational model.(English)Zbl 1481.74589

Summary: The aim of this paper is to develop an efficient hybrid computational model to analyze the frictional impact dynamic responses of soft finger during the tapping event. The large deformation field and inertial field of soft structure are discretized by absolute nodal coordinate formulation. Lagrange multiplier method is adopted to account for the constraints between neighbor phalanges. Considering tangential contact compliance, a lumped-parameter model at the local contact zone is presented to calculate contact forces. The governing equations of soft finger tapping system expressed by generalized coordinates are derived. An event driven scheme is given to analyze and evaluate the stick-slip transitions. The governing equation is integrated by generalized-$$\alpha$$ method. The applications of the hybrid computational model are demonstrated using various soft finger tapping systems acted by different driven moments. The feasibility of the proposed model is validated by comparing with the LS-DYNA solution. The error of the solution calculated by the proposed model for the peak value of contact force is less than 8%. Furthermore, numerical results show that the large structural compliance and driven moments have significant effect on the frictional impact responses. The normal relative motion between the fingertip and the rough target surface will experience $$1\sim 4$$ compression-restitution transitions when Young’s Modulus is from 0.01 GPa to 1 GPa or the slenderness ratio of phalanx is from 10.7 to 32. When the posture of soft finger is convex at impact instance, the tangential relative motion will experience 3 slip-stick transitions during the contact process. In addition, it also can be found that the tangential contact compliance can reverse the direction of slip (i.e. ‘reverse slip’ phenomenon).

### MSC:

 74M20 Impact in solid mechanics

LS-DYNA
Full Text:

### References:

 [1] Robertson, M. A.; Paik, J., New soft robots really suck: vacuum – powered systems empower diverse capabilities, Sci. Robot., 2, 9, 1-11 (2017), eaan6357 [2] Terryn, S.; Brancart, J.; Lefeber, D., Self – healing soft pneumatic robots, Sci. Robot., 2, 1-12 (2017), eaan4268 [3] Hussain, I.; Salvietti, G.; Spagnoletti, G., A soft supernumerary robotic finger and mobile arm support for grasping compensation and hemiparetic upper limb rehabilitation, Robot. Auton. Syst., 93, 1-12 (2017) [4] Helen, S., Meet the soft, cuddly robots of the future, Nature, 530, 7588, 24-26 (2016) [5] Zhang, J.; Wang, T.; Hong, J.; Wang, Y., Review of soft – bodied manipulator, J. Mech. Eng., 53, 19-28 (2017) [6] Bochereau, S.; Dzidek, B.; Adams, M.; Hayward, V., Characterizing and imaging gross and real finger contacts under dynamic loading, IEEE Trans. Haptics, 10, 456-465 (2017) [7] Lat, A. A.; Nefti-Meziani, S.; Davis, S., Design of a variable stiffness soft dexterous gripper, Soft Robot., 4, 274-284 (2017) [8] Rigatos, G. G., Model – based and model – free control of flexible – link robots: a comparison between representative methods, Appl. Math. Model., 33, 3906-3925 (2009) · Zbl 1205.93105 [9] Cummins, S. J.; Cleary, P. W., Using distributed contacts in DEM, Appl. Math. Model., 35, 1904-1914 (2011) · Zbl 1217.76045 [10] Shen, Y.; Gu, J., Research on rigid body – spring – particle hybrid model for flexible beam under oblique impact with friction, J. Vib. Eng., 29, 1-7 (2016) [11] Shen, Y.; Yin, X., Analysis of geometric dispersion effect of impact – induced transient waves in composite rod using dynamic substructure method, Appl. Math. Model., 40, 1972-1988 (2016) · Zbl 1457.74105 [12] Johnson, K. L., The bounce of ‘super ball’, Int. J. Mech. Eng., 111, 57-63 (1983) [13] Stronge, W. J., Impact Mechanics, 112-113 (2000), Cambridge University Press: Cambridge University Press Cambridge · Zbl 0961.74002 [14] Pfeiffer, F., Energy considerations for frictional impacts, Arch. Appl. Mech., 80, 47-56 (2010) · Zbl 1184.70015 [15] Shen, Y.; Stronge, W., Painlevé paradox during oblique impact with friction, Eur. J. Mech. A, 30, 457-467 (2011) · Zbl 1278.74135 [16] Cha, H. J.; Koh, K. C.; Yi, B. J., Stiffness modeling of a soft finger, Int. J. Control Autom. Syst., 12, 111-117 (2014) [17] Psomopoulou, E.; Karashima, D.; Doulgeri, Z., Stable pinching by controlling finger relative orientation of robotic fingers with rolling soft tips, Robotica, 36, 1-21 (2018) [18] Doulgeri, Z.; Karayiannidis, Y., Performance analysis of a soft tip robotic finger controlled by a parallel force/position regulator under kinematic uncertainties, IET Control Theory Appl., 1, 273-280 (2007) [19] Doulgeri, Z.; Arimoto, S., A position/force control for a robot finger with soft tip and uncertain kinematics, J. Field Robot., 19, 115-131 (2002) · Zbl 1072.70504 [20] Yuk, H.; Lin, S.; Ma, C., Hydraulic hydrogel actuators and robots optically and sonically camouflaged in water, Nature Commun., 8, 1-12 (2017) [21] Chen, F.; Xu, W.; Zhang, H., Topology optimized design, fabrication and characterization of a soft cable – driven gripper, IEEE Robot. Autom. Lett., 3, 2463-2470 (2018) [22] Devi, M. A.; Udupa, G.; Sreedharan, P., A novel underactuated multi – fingered soft robotic hand for prosthetic application, Robot. Autonom. Syst., 100, 267-277 (2018) [23] Schiehlen, W.; Seifried, R.; Eberhard, P., Elastoplastic phenomena in multibody impact dynamics, Comput. Methods Appl. Mech. Eng., 195, 6874-6890 (2006) · Zbl 1120.74679 [24] Zhang, L.; Yin, X.; Yang, J., Transient impact response analysis of an elastic – plastic beam, Appl. Math. Model., 55, 616-636 (2018) · Zbl 1480.74035 [25] Shen, Y., Painlevé paradox and dynamic jam of a three – dimensional elastic rod, Arch. Appl. Mech., 85, 805-816 (2015) [26] Hu, H.; Tian, Q.; Liu, C., Soft machines: challenges to computational dynamics, Procedia IUTAM, 20, 10-17 (2017) [27] Berzeri, M.; Shabana, A. A., Development of simple models for the elastic forces in the absolute nodal co – ordinate formulation, J. Sound Vib., 235, 539-565 (2000) [28] Kudra, G.; Awrejcewicz, J., Bifurcational dynamics of a two – dimensional stick – slip system, Differ. Equ. Dyn. Syst., 20, 301-322 (2012) · Zbl 1302.70058 [29] Olejnik, P.; Awrejcewicz, J., Application of Hénon method in numerical estimation of the stick – slip transitions existing in Filippov – type discontinuous dynamical systems with dry friction, Nonlinear Dyn., 73, 723-736 (2013) [30] Olejnik, P.; Awrejcewicz, J.; Feckan, M., Modeling, Analysis and Control of Dynamical Systems With Friction and Impacts (2018), World Scientific Publishing · Zbl 1378.93004 [31] Chung, J.; Hulbert, G. M., A time integration algorithm for structural dynamics with improved numerical dissipation: the Generalized-α Method, J. Appl. Mech., 60, 371-375 (1993) · Zbl 0775.73337 [32] Arnold, M.; Brüls, O., Convergence of the generalized-$$α$$; scheme for constrained mechanical systems, Multibody Syst. Dyn., 18, 185-202 (2007) · Zbl 1121.70003 [33] Broyden, C., A class of methods for solving nonlinear simultaneous equations, Math. Comput., 19, 577-593 (1965) · Zbl 0131.13905
This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. It attempts to reflect the references listed in the original paper as accurately as possible without claiming the completeness or perfect precision of the matching.