Table 2 Simulation parameters
From: Modeling and control of planar slippage in object manipulation using robotic soft fingers
Length (m) | Inertia (kgm2) | Mass (kg) | Coefficients | ||||
|---|---|---|---|---|---|---|---|
\(l_1\) | 0.025 | \(I_{c_1}^{xx}\) | \(m_1 l_1^2/12\) | \(m_1\) | 0.02 | c | 0.012 |
\(l_2\) | 0.20 | \(I_{c_1}^{yy}\) | \(m_1 l_1^2/12\) | \(m_2\) | 0.2 | \(\gamma\) | 0.02 |
\(l_3\) | 0.20 | \(I_{c_1}^{zz}\) | 0 | \(m_3\) | 0.2 | k | 3 |
\(l_{c_1}\) | \(l_1/2\) | \(I_{c_2}^{xx}\) | 0 | \(m_o\) | 0.1 | \(C_{\text {eq}}\) | 300 (Nm/s) |
\(l_{c_2}\) | \(l_2/2\) | \(I_{c_2}^{yy}\) | \(m_2 l_2^2/12\) | Â | Â | \(\mu _c\) | 0.5 |
\(l_{c_3}\) | \(l_3/2\) | \(I_{c_2}^{zz}\) | \(m_2 l_2^2/12\) | Â | Â | \(\mu _g\) | 0.1 |
R | 0.02 | \(I_{c_3}^{xx}\) | 0 | Â | Â | \(\lambda _c\) | 0.620r (m) |
W | 0.02 | \(I_{c_3}^{yy}\) | \(m_3 l_3^2/12\) | Â | Â | \(\lambda _g\) | 0.0674 (m) |
a | 0.20 | \(I_{c_3}^{zz}\) | \(m_3 l_3^2/12\) | Â | Â | Â | Â |
b | 0.15 | \(I_o\) | \(m_o(a^2+b^2)/12\) | Â | Â | Â | Â |