University of Twente Student Theses


Deformation modelling and gripper contact simulation of deformable objects

Luong, J. (2022) Deformation modelling and gripper contact simulation of deformable objects.

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Abstract:Grasping and manipulation of deformable objects is still a challenging problem in industrial automation and robotics. To grasp a deformable object the right amount of force needs to be used to on the one hand have a stable grasp and on the other hand prevent damaging the object. Besides, the object will deform when in contact with a grasping finger. Therefore, the behaviour of a deformable object and its contact with a finger needs to be understood. This thesis proposes a mass-spring-damper model with additional constraints for volume preservation and spring deformation limits, and Hunt-Crossley (Hunt and Crossley, 1975) and stick-slip contacts. Experiments with objects made of silicone rubber are conducted to acquire data about the deformation of an object when impacted by an external fingertip. The influence of model parameters on the simulation results are explored and fitted to minimize the error. The results indicate that the proposed model can predict object deformations with a normalized root mean square error of 2.2% in the explored situations. The model can be extended for simulation of grasping deformable objects.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:50 technical science in general
Programme:Systems and Control MSc (60359)
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