Frontiers of Mechanical Engineering >
Analysis of suitable geometrical parameters for designing a tendon-driven under-actuated mechanical finger
Received date: 18 Dec 2015
Accepted date: 09 Mar 2016
Published date: 29 Jun 2016
Copyright
This study aims to optimize the geometrical parameters of an under-actuated mechanical finger by conducting a theoretical analysis of these parameters. The finger is actuated by a flexion tendon and an extension tendon. The considered parameters are the tendon guide positions with respect to the hinges. By applying such an optimization, the correct kinematical and dynamical behavior of the closing cycle of the finger can be obtained. The results of this study are useful for avoiding the snap-through and the single joint hyperflexion, which are the two breakdowns most frequently observed during experimentation on prototypes. Diagrams are established to identify the optimum values for the tendon guides position of a finger with specified dimensions. The findings of this study can serve as guide for future finger design.
Francesco PENTA , Cesare ROSSI , Sergio SAVINO . Analysis of suitable geometrical parameters for designing a tendon-driven under-actuated mechanical finger[J]. Frontiers of Mechanical Engineering, 2016 , 11(2) : 184 -194 . DOI: 10.1007/s11465-016-0385-y
1 |
Bicchi A. Hands for dexterous manipulation and robust grasping: A difficult road toward simplicity. IEEE Transactions on Robotics and Automation, 2000, 16(6): 652–662
|
2 |
Biagiotti L, Lotti F, Melchiorri C,
|
3 |
Brown C Y, Asada H H. Inter-finger coordination and postural synergies in robot hands via mechanical implementation of principal components analysis. In: Proceedings of 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems. San Diego: IEEE, 2007, 2877–2882
|
4 |
Dechev N, Cleghorn W L, Naumann S. Multiple finger, passive adaptive grasp prosthetic hand. Mechanism and Machine Theory, 2001, 36(10): 1157–1173
|
5 |
Gosselin C, Pelletier F, Laliberté T. An anthropomorphic underactuated robotic hand with 15 dofs and a single actuator. In: Proceedings of 2008 IEEE International Conference on Robotics and Automation. Pasadena: IEEE, 2008, 749–754
|
6 |
Baril M, Laliberté T, Gosselin C,
|
7 |
Catalano M G, Grioli G, Serio A,
|
8 |
Penta F, Rossi C, Savino S. An underactuated finger for a robotic hand. International Journal of Mechanics and Control, 2014, 15(2): 63–68
|
9 |
Penta P, Rossi C, Savino S. Gripping analysis of an underactuated finger. In: Borangiu T, ed. Advances in Intelligent Systems and Computing (Volume 371). Springer International Publishing, 2015, 71–78
|
10 |
Niola V, Penta F, Rossi C,
|
11 |
Rossi C, Savino S. An underactuated multi-finger grasping device. International Journal of Advanced Robotic Systems, 2014, 11(1): 201
|
12 |
Rossi C, Savino S, Niola V,
|
13 |
Carbone G, Rossi C, Savino S. Performance comparison between FEDERICA Hand and LARM Hand. International Journal of Advanced Robotic Systems, 2015, 12: 1–11
|
14 |
Niola V, Rossi C, Savino S,
|
15 |
Hirose S, Umetani Y. The development of soft gripper for versatile robot hand. Mechanism and Machine Theory, 1978, 13(3): 351–359
|
16 |
Townsend W. The BarretHand grasper—Programmably flexible part handling and assembly. Industrial Robot: An International Journal, 2000, 27(3): 181–188
|
17 |
Birglen L, Kragten G A, Herder J L. Underactuated Grasping—Special Issue in the Journal of Mechanical Sciences. Göttingen: Copernicus Publications, 2010
|
18 |
Kaneko M, Higashimori M, Takenaka R,
|
19 |
Laliberté T, Birglen L, Gosselin C M. Underactuation in robotic grasping hands. Japanese Journal of Machine Intelligence & Robotic Control, 2002, 4(3): 77–87
|
20 |
Doria M, Birglen L. Design of an underactuated compliant gripper for surgery using nitinol. Journal of Medical Devices, 2009, 3(1): 011007
|
21 |
Zottola M, Ceccarelli M. Underactuated finger mechanism for LARM Hand. In: Ceccarelli M, Glazunov V A. eds. Advances on Theory and Practice of Robots and Manipulators. Springer International Publishing, 2014, 283–291
|
22 |
Nelson C A, Dessauw E, Saiter J M,
|
23 |
Groenewegen M W, Aguirre M E, Herder J L. Design of a partially compliant, three-phalanx underactuated prosthetic finger. In: Proceedings of ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015, V05AT08A040–V05AT08A040
|
24 |
Niola V, Rossi C, Savino S,
|
25 |
Rossi C, Savino S. Robot trajectory planning by assigning positions and tangential velocities. Robotics and Computer-Integrated Manufacturing, 2013, 29(1): 139–156
|
/
〈 | 〉 |