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Towards predictable precision manipulation of unknown ojects with underactuated fingers
chapter
posted on 2023-06-09, 00:28 authored by Raymond R Ma, Nicolas Rojas, Aaron M DollarThis paper describes a new concept in underactuated hand design, motivated by a study of parallel mechanisms. Inspired by the end-effector motion and system reconfiguration in parallel wrists, we propose a morphology of fingers such that during fingertip precision manipulation the instantaneous screw axes, which describe the displacement of the grasped object respect to the palm of the hand, always intersect at the same known fixed point regardless of the object’s particularities. A physical hand was built to evaluate the feasibility of the design concept in improving precision manipulation capabilities while preserving power-grasping functionality. The tendon-driven hand is underactuated, with one actuator for each of the two-degree-of-freedom fingers, and passive rotary fingertips are used to minimize slip at contact points during manipulation. Experimental results with the hand demonstrate the effectiveness of the concept, thus encouraging further research in the area.
History
Publication status
- Published
ISSN
2211-0984Publisher
SpringerExternal DOI
Volume
36Page range
927-937Pages
1136.0Book title
Advances in Reconfigurable Mechanisms and Robots IIPlace of publication
New YorkISBN
9783319233260Department affiliated with
- Engineering and Design Publications
Full text available
- No
Peer reviewed?
- Yes