IntelliMan_WP5_Grasping, Manipulation and Arm-Hand Coordination_T5.1_Data fusion and sensing technology_IDETCIE2025

Finite elements analysis (FEA) is employed to investigate the slippage behavior of a soft fingertip made of DragonSkin silicone in contact with a rigid surface, expanding on previous research in robotic manipulation with soft fingertips. This study aims to determine the conditions leading to slippage and the maximum normal torque the fingertip can withstand before losing grip. The FEA model incorporates a nonlinear contact formulation to simulate frictional interactions accurately, analyzing the fingertip’s response to varying normal forces, tangential forces, and applied torques. Simulations were conducted using Ansys, modeling a hemispherical fingertip in contact with a steel plate to examine stress distribution, contact forces, and frictional behavior. The onset of slippage was identified through discontinuities in tangential force and Ansys’s contact tools. Results illustrate the evolution of the contact area and stress distribution as forces increase, revealing critical thresholds for slippage. The findings indicate that both normal and tangential forces play a crucial role in determining the fingertip’s ability to maintain grip. Furthermore, the study highlights the influence of material compliance on frictional behavior. Results illustrate the progression of contact area and stress distribution from normal force application to the onset of slippage. The research improves predictive modeling of frictional interactions, supporting applications in prosthetics, automation, and robotic grasping. A better understanding of these interactions can help refine control strategies and improve the reliability of soft robotic systems in practical scenarios.