Engineering
Robot gripper: how much friction is enough?
Close the jaws, lift a payload, and discover when limited normal force and friction let it slip.
Try this
Start with Lift at zero. Let the jaws close, then raise Lift. Reduce friction or increase the payload mass.
The model and its limits
Spring jaws, a bounded screw force and Coulomb friction. The payload moves vertically; contact geometry is simplified and magnified.
Equations used in the module
Equations F_friction <= 2 mu N N <= 2 pi eta torque / pitch
