TY - GEN
T1 - Active outline shaping of a rheological object based on plastic deformation distribution
AU - Yoshimoto, Kayo
AU - Higashimori, Mitsuru
AU - Tadakuma, Kenjiro
AU - Kaneko, Makoto
PY - 2011
Y1 - 2011
N2 - This paper discusses a shaping strategy of a rheological object whose deformation characteristic includes both elasticity and plasticity. We first introduce a seven-nodes viscoelastic model for approximating the outline and the dynamic characteristics of the object. Then, we show a shaping method of the object's outline, where the ratio between the object's length in the grasping direction and that in the perpendicular one is controlled by using a parallel jaw gripper. Based on the plastic deformation distribution for the integrated input stress, the proposed method can actively manage the final object's outline. In addition to the contribution on simplifying the gripper's degree of freedom, this method has the advantage that the handling time is drastically reduced, compared with the position based passive method. We finally show the experimental results for confirming the validity of the proposed method.
AB - This paper discusses a shaping strategy of a rheological object whose deformation characteristic includes both elasticity and plasticity. We first introduce a seven-nodes viscoelastic model for approximating the outline and the dynamic characteristics of the object. Then, we show a shaping method of the object's outline, where the ratio between the object's length in the grasping direction and that in the perpendicular one is controlled by using a parallel jaw gripper. Based on the plastic deformation distribution for the integrated input stress, the proposed method can actively manage the final object's outline. In addition to the contribution on simplifying the gripper's degree of freedom, this method has the advantage that the handling time is drastically reduced, compared with the position based passive method. We finally show the experimental results for confirming the validity of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=84455169122&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84455169122&partnerID=8YFLogxK
U2 - 10.1109/IROS.2011.6048072
DO - 10.1109/IROS.2011.6048072
M3 - Conference contribution
AN - SCOPUS:84455169122
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1386
EP - 1391
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -