|Table of Contents|

[1] Lü XinQiao ShanglingHuang YongLiu Rongqiang,. Stable grasping gesture analysisof a cable-driven underactuated robotic hand [J]. Journal of Southeast University (English Edition), 2018, 34 (3): 309-316. [doi:10.3969/j.issn.1003-7985.2018.03.005]
Copy

Stable grasping gesture analysisof a cable-driven underactuated robotic hand()
Share:

Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]

Volumn:
34
Issue:
2018 3
Page:
309-316
Research Field:
Other Disciplines
Publishing date:
2018-09-20

Info

Title:
Stable grasping gesture analysisof a cable-driven underactuated robotic hand
Author(s):
Lü XinQiao ShanglingHuang YongLiu Rongqiang
School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China
Keywords:
grasp gesture tendon-pulley transmission underactuated grasp force
PACS:
V443.4
DOI:
10.3969/j.issn.1003-7985.2018.03.005
Abstract:
The stable grasping gesture of a novel cable-driven robotic hand is analyzed. The robotic hand is underactuated, using tendon-pulley transmission and a parallel four-linkage mechanism to realize grasp. The structure design and a basic grasping strategy of one finger was introduced. According to the established round object enveloping grasp model, the relationship between the contacting and driving forces in a finger and stable grasping conditions were expounded. A method of interpolation and iteration was proposed to obtain the stable grasping gesture of the cable-driven hand grasping a round target. Quasi-statics analysis in ADAMS validated the variation of grasping forces, which illustrated the feasibility and validity of the proposed analytical method. Three basic types of grasping gestures of the underactuated hand were obtained on the basis of the relationship between the contact forces and position of a grasped object.

References:

[1] Lu S, Xu W, Liu Z, et al. On-orbit manipulation technology for spacecraft in GEO[C]//2013 32nd Chinese Control Conference. Xi’an, China, 2013: 5204-5209.
[2] Birglen L, Laliberté T, Gosselin C M. Underactuated robotic hands[M]. Springer, 2007: 17-31.
[3] Laliberté T, Gosselin C M. Simulation and design of underactuated mechanical hands[J]. Mechanism and Machine Theory, 1998, 33(1/2): 39-57.
[4] Gosselin C M, Laliberte T. Underactuated mechanical finger with return actuation: US Patent 5762390[P]. 1998-06-09.
[5] Jin B, Lin L X. Design and force control of an underactuated robotic hand for fruit and vegetable picking[J]. Journal of Mechanical Engineering, 2014, 50(19): 1-8.(in Chinese)
[6] Yoon D, Choi Y.Underactuated finger mechanism using contractible slider-cranks and stackable four-bar linkages[J]. ASME Transactions on Mechatronics, 2017, 22(5): 2046-2057.
[7] Wang Q C, Quan Q Q, Deng Z Q, et al. An underactuated robotic arm based on differential gears for capturing moving targets: Analysis and design[J]. Journal of Mechanisms and Robotics, 2016, 8(4): 041012.
[8] Liang D, Song J, Zhang W, et al. PASA hand: A novel parallel and self-adaptive underactuated hand with gear-link mechanisms[C]//International Conference on Intelligent Robotics and Applications. Tokyo, Japan, 2016: 134-146.
[9] Nishimura H, Kakogawa A, Ma S. Development of anunderactuated robot gripper capable of retracting motion[C]//2012 IEEE International Conference on Robotics and Biomimetics. Guangzhou, China, 2012: 2161-2166.
[10] Wolf S, Eiberger O, Hirzinger G. The DLR FSJ: Energy based design of a variable stiffness joint[C]//2011 IEEE International Conference on Robotics and Automation. Shanghai, China, 2011: 5082-5089.
[11] Rossi C, Savino S. An underactuated multi-finger grasping device[J]. International Journal of Advanced Robotic Systems, 2014, 11: 1-12. DOI: 10.5772/57419.
[12] Carpenter R, Hatton R, Balasubramanian R. Evaluation of linear and revolute underactuated grippers for steel foundry operations[J]. Industrial Robot: An International Journal, 2015, 42(4): 314-323.
[13] Davidson J R, Mo C. Mechanical design and initial performance testing of an apple-picking end-effector[C]//2015 ASME International Mechanical Engineering Congress and Exposition. Houston, TX, USA, 2015: 1-9.
[14] Nacy S M, Tawfik M A, Baqer I A. A novel fingertip design for slip detection under dynamic load conditions[J]. Journal of Mechanisms and Robotics, 2014, 6(3): 031009. DOI:10.1115/1.4027237.
[15] Tan S, Zhang W, Chen Q, et al. Design and analysis of underactuated humanoid robotic hand based on slip block-cam mechanism[C]//2009 IEEE International Conference on Robotics and Biomimetics. Guilin, China, 2009: 2356-2361.
[16] Liu Y W, Feng F, Gao Y F. HIT prosthetic hand based on tendon-driven mechanism[J]. Journal of Central South University, 2014, 21(5): 1778-1791.
[17] Carbone G, Rossi C, Savino S. Performance comparison between FEDERICA hand and LARM hand[J]. International Journal of Advanced Robotic Systems, 2015, 12: 1-12. DOI: 10.5772/60523.
[18] Wang L, DelPreto J, Bhattacharyya S, et al. A highly-underactuated robotic hand with force and joint angle sensors[C]//2011 IEEE/RSJ International Conference on Intelligent Robots and Systems. San Francisco, CA, USA, 2011: 1380-1385.
[19] Aukes D M, Heyneman B, Ulmen J, et al. Design and testing of a selectively compliant underactuated hand[J]. The International Journal of Robotics Research, 2014, 33(5): 721-735.
[20] Qiao S, Guo H, Liu R, et al. Research of the relation between configuration and skin-friction coefficient of an underactuated hand based on the maximum grasping space[M]//Mechanism and Machine Science. Singapore: Springer, 2017: 89-100.

Memo

Memo:
Biographies: Lü Xin(1981—), male, doctor, lvxin@hit.edu.cn; Liu Rongqiang(1965—), male, doctor, professor, liurq@hit.edu.cn.
Foundation items: The National Natural Science Foundation of China(No.U1613201, 51275107), Shenzhen Research Funds(No.JCYJ 20170413104438332).
Citation: Lü Xin, Qiao Shangling, Huang Yong, et al. Stable grasping gesture analysis of a cable-driven underactuated robotic hand[J].Journal of Southeast University(English Edition), 2018, 34(3):309-316.DOI:10.3969/j.issn.1003-7985.2018.03.005.
Last Update: 2018-09-20