Equilibrium Conditions of a Polygonal Object When Grasped by Soft-Rolling Contacts

摘要: In this paper, we study two soft spherical fingertips grasping a rigid polygonal object as kinematically constrained system. We assume that the contact locations of are not fixed on but able to move due rolling constraints. A motion model is proposed for soft-rolling based previously reported experimental findings distance variety materials. The equilibrium conditions derived from system dynamics and depend deformation kind material with regard fingertip's characteristics. Also, discussion forces grasp analysis at object's made. It shown using point friction in contacts adequate describing real low or medium stiffness general, three contacted bodies (soft object) show no-collinear interaction act surface they correspond an "internal object" held by friction.