Abstract
Underactuated robotic grippers have the advantage of lower cost, simpler control, and higher safety over the fully actuated grippers. In this study, an underactuated robotic finger is presented. The design issues that should be considered for stable grasping are discussed in detail. This robotic finger is applied to design a two-fingered underactuated gripper. Firstly, a new three-DOF linkage-driven robotic finger that combines a five-bar mechanism and a double parallelogram is presented. This special architecture allows us to put all of the required actuators into the palm. By adding a torsion spring and a mechanical stopper at a passive joint, this underactuated finger mechanism can be used to perform parallel grasping, shape-adaptive grasping, and environmental contact-based grasp. Secondly, the dynamic model of this robotic finger is developed to investigate how to select an appropriate torsion spring. The dynamic simulation is performed with a multi-body dynamic simulator to verify our proposed approach. Moreover, static grasp models of both two-point and three-point contact grasps are investigated. Finally, different types of grasping modes are verified experimentally with a two-fingered underactuated robotic gripper.
Highlights
Till different types of robotic hands have been developed for the purpose of grasping and manipulating daily objects
A lot of effort has been put into the design of low-cost, simple-maintenance, and easy-operation robotic hands which could be widely applied to practical applications such as the automation industry and medical rehabilitation
We have presented a three-DOF linkage-driven robotic finger and developed a two-fingered underactuated gripper
Summary
Different types of robotic hands have been developed for the purpose of grasping and manipulating daily objects. A lot of effort has been put into the design of low-cost, simple-maintenance, and easy-operation robotic hands which could be widely applied to practical applications such as the automation industry and medical rehabilitation To this end, particular attention has been paid to designing non-anthropomorphic robotic hands/grippers with an underactuated structures which could reduce the number of actuators and require simple control systems for a given task [6,7,8,9]. To prevent undesired motion during underactuated grasping, elastic elements (springs and compliant joints) and mechanical stoppers generally are required to provide passive control. These passive elements are referred to as “passive actuators”. Multiple grasping modes of this robotic finger are verified experimentally
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