Abstract
In this paper, we introduce a task-based method for designing underactuated gripper mechanisms in which actuators are linked with the joints via elastic elements. The inclusion of elastic elements in the kinematic structure allows better compliance of gripper fingers to the shape of the grasped object because in this case the elastic elements work as convertors of the displacement of the actuators. In the proposed research we focus on the design of multi-joint grippers that contain fewer independent actuators than the joints and geometry dedicated for specific tasks. In order to minimize the complexity of the gripper mechanism while keeping its efficiency, we analyzed the joint motions of the mechanisms during the execution of each task and investigated the level of participation of eachjoint for every task. The results of this study can be used for systematic design of underactuated mechanisms and for the synthesis of dedicated underactuated mechanisms that can operate in a low dimensional task coordinate space.
Highlights
It is often suggested that hand prostheses and robot grippers must possess a kinematic structure that is similar to those of the natural human hand [1,2,3,4]
The accuracy of the synthesized underactuated mechanisms is lower than the accuracy of the mechanisms with the same kinematic structure and independently controlled joints, the approach allows the synthesis of hands with simple structures that possess high functionality and precise motions for the named set of tasks
In the present paper we propose a systematic approach for design of underactuated robot hands with several elastic elements based on further development and adaptation of the task-based design method [17]
Summary
Shoichiro Kamada1*, Goro Obinata and Dimitar Stefanov3 1Graduate School of Engineering, Nagoya University, Nagoya, Japan 2EcoTopia Science Institute, Nagoya University, Nagoya, Japan 3Faculty of Engineering and Computing, Coventry University, Coventry, United Kingdom
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