Summary
A 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.
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Stavroulakis, G.E., Goeleven, D. & Panagiotopoulos, P.D. New models for a class of adhesive grippers. The hemivariational inequality approach. Arch. Appl. Mech. 67, 50–61 (1996). https://doi.org/10.1007/BF00787139
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DOI: https://doi.org/10.1007/BF00787139