This paper presents a novel design for a robotic end effector. In particular, the design features a multifingered underactuated gripper capable of performing parallel and self-adaptive (PASA) grasping. The unique use of an eccentric cam fixed to a modified four-bar linkage mechanism allows the finger to compensate for the typical gap distance found during parallel pinching, improving the ability to grasp objects against surfaces and in tight spaces. A static analysis is performed on the design to determine the equilibrium conditions necessary for a successful grasp using this design in both the PASA modes. The mechanics of a four-bar mechanism are used to determine the grasp velocity and positioning of the hand in both grasp modes. Experimental results with a finger prototype confirm the desired closing trajectory.
Issue Section:
Technical Brief
References
1.
Bicchi
, A.
, 2000
, “Hands for Dexterous Manipulation and Robust Grasping: A Difficult Road Toward Simplicity
,” IEEE Trans. Rob. Autom.
, 16
(6
), pp. 652
–662
.2.
Jacobsen
, S.
, Wood
, J.
, Knutti
, D.
, and Biggers
, K.
, 1984
, “The Utah/M.I.T. Dextrous Hand: Work in Progress
,” Int. J. Rob. Res.
, 3
(4
), pp. 21–50.3.
Salisbury
, J. K.
, and Craig
, J. J.
, 1982
, “Articulated Hands: Force Control and Kinematic Issues
,” Int. J. Rob. Res.
, 1
(1
), pp. 4
–17
.4.
Lovchik
, C. S.
, and Diftler
, M. A.
, 1999
, “The Robonaut Hand: A Dexterous Robot Hand for Space
,” IEEE International Conference on Robotics and Automation
, Detroit, MI, May 10–15, pp. 907–912.5.
Kochan
, A.
, 2005
, “Shadow Delivers First Hand
,” Ind. Rob. Int. J.
, 32
(1
), pp. 15
–16
.6.
Butterfass
, J.
, Grebenstein
, M.
, Liu
, H.
, and Hirzinger
, G.
, 2001
, “DLR-Hand II: Next Generation of a Dextrous Robot Hand
,” IEEE International Conference on Robotics and Automation
, Seoul, South Korea, May 21–26, pp. 109–1147.
Speeter
, T. H.
, 1991
, “Primitive Based Control of the Utah/Mit Dextrous Hand
,” IEEE International Conference on Robotics and Automation
, Sacramento, CA, Apr. 9–11, pp. 866–877.8.
Xu
, Z.
, Kumar
, V.
, and Todorov
, E.
, 2013
, “A Low-Cost and Modular, 20-DOF Anthropomorphic Robotic Hand: Design, Actuation and Modeling
,” IEEE-RAS International Conference on Humanoid Robots (Humanoids)
, Atlanta, GA, Oct. 15–17, pp. 368–375.9.
Deimel
, R.
, and Brock
, O.
, 2016
, “A Novel Type of Compliant and Underactuated Robotic Hand for Dexterous Grasping
,” Int. J. Rob. Res.
, 35
(1–3
), pp. 161
–185
.10.
Tavakoli
, M.
, Enes
, B.
, Santos
, J.
, Marques
, L.
, and de Almeida
, A. T.
, 2015
, “Underactuated Anthropomorphic Hands: Actuation Strategies for a Better Functionality
,” Rob. Auton. Syst.
, 74
(pt. A), pp. 267
–282
.11.
Dollar
, A. M.
, and Howe
, R. D.
, 2010
, “The Highly Adaptive Sdm Hand: Design and Performance Evaluation
,” Int. J. Rob. Res.
, 29
(5
), pp. 585
–597
.12.
Laliberte
, T.
, Birglen
, L.
, and Gosselin
, C.
, 2002
, “Underactuation in Robotic Grasping Hands
,” J. Mach. Intell. Rob. Control
, 4
(3
), pp. 77
–87
.13.
Birglen
, L.
, 2009
, “Type Synthesis of Linkage-Driven Self-Adaptive Fingers
,” ASME J. Mech. Rob.
, 1
(2
), p. 021010.14.
Zhang
, C.
, Zhang
, W.
, Sun
, Z.
, and Zhen
, Q.
, 2012
, “Hag-sr Hand: Highly-Anthropomorphic-Grasping Under-Actuated Hand With Naturally Coupled States
,” International Conference on Social Robotics
, pp. 475
–484
.15.
Gosselin
, C.
, Pelletier
, F.
, and Laliberte
, T.
, 2008
, “An Anthropomorphic Underactuated Robotic Hand With 15 Dofs and a Single Actuator
,” IEEE
International Conference on Robotics and Automation
, Pasadena, CA, May 19–23, pp. 749–754.16.
Li
, X.
, Huan
, Q.
, Yu
, Z.
, Zhu
, J.
, and Han
, D.
, 2017
, “A Novel Under-Actuated Bionic Hand and Its Grasping Stability Analysis
,” Adv. Mech. Eng.
, 9
(2
), pp. 1
–13
.17.
Liang
, D.
, and Zhang
, W.
, 2016
, “A Novel Parallel and Self-Adaptive Underactuated Finger With Link-Wheel Mechanism
,” International Conference on Advanced Robotics and Mechatronics
, Macau, China, Aug. 18–20, pp. 518–523.18.
Luo
, C.
, and Zhang
, W.
, 2018
, “A Flexible Self-Adaptive Underactuated Hand With Series Passive Joints
,” Ind. Rob. Int. J.
, 45
(4
), pp. 516
–525
.19.
Li
, G.
, Li
, B.
, Sun
, J.
, Zhang
, W.
, Sun
, Z.
, and Chen
, Q.
, 2013
, “Development of a Directly Seld-Adaptive Robot Hand With Pulley-Belt Mechanism
,” Int. J. Precis. Eng. Manuf.
, 14
(8
), pp. 1361
–1368
.20.
Liang
, D.
, Zhang
, W.
, Sun
, Z.
, and Chen
, Q.
, 2015
, “Pasa Finger: A Novel Parallel and Self-Adaptive Underactuated Finger With Pinching and Enveloping Grasp
,” IEEE Conference on Robotics and Biomimetics
, Zhuhai, China, Dec. 6–9, pp. 1323–1328.21.
Gao
, B.
, Yang
, S.
, Jin
, H.
, Hu
, Y.
, Yang
, X.
, and Zhang
, J.
, 2016
, “Design and Analysis of Underactuated Robotic Gripper With Adaptive Fingers for Object Grasping Tasks
,” IEEE Conference on Robotics and Biomimetics
, Qingdao, China, Dec. 3–7, pp. 987–992.22.
Gao
, B.
, Lei
, L.
, Zhao
, S.
, Hu
, Y.
, and Zhang
, J.
, 2016
, “A Novel Underactuated Hand With Adaptive Robotic Fingers
,” IEEE International Conference on Information and Automation
, Ningbo, China, Aug. 1–3, pp. 1392–1397.23.
Birglen
, L.
, 2017
, “Design of a Partially-Coupled Self-Adaptive Robotic Finger Optimized for Collaborative Robots
,” Robotics: Science and Systems
, Cambridge, MA, July 12–16, p. 9.24.
Nunez-Altamirano
, D. A.
, Juarez-Campos
, I.
, Marquez-Parez
, L.
, Flores-Diaz
, O.
, and Romero-Munoz
, L.
, 2016
, “Dynamics of a Novel Robotic Leg Based on the Peaucellier-Lipkin Mechanism on Linear Paths During the Transfer Phase
,” Adv. Mech. Eng.
, 8
(7
), pp. 1
–10
.25.
Birglen
, L.
, and Gosselin
, C. M.
, 2004
, “Kinetostatic Analysis of Underactuated Fingers
,” IEEE Trans. Rob. Autom.
, 20
(2
), pp. 211
–221
.26.
Belzile
, B.
, and Birglen
, L.
, 2015
, “Instantaneous-Stiffness Plane Analysis of Underactuated Fingers
,” ASME
Paper No. DETC2015-47310.27.
Bai
, S.
, and Angeles
, J.
, 2008
, “A Unified Input-Output Analysis of Four-Bar Linkages
,” Mech. Mach. Theory
, 43
(2
), pp. 240
–251
.28.
Rothenhofer
, G.
, Walsh
, C.
, and Slocum
, A.
, 2010
, “Transmission Ratio Based Analysis and Robust Design of Mechanisms
,” Precis. Eng.
, 34
(4
), pp. 790
–797
.29.
Hunter
, J. D.
, 2007
, “Matplotlib: A 2D Graphics Environment
,” Comput. Sci. Eng.
, 9
(3
), pp. 90
–95
.30.
Sun
, J.
, and Zhang
, W.
, 2012
, “A Novel Coupled and Self-Adaptive Under-Actuated Multi-Fingered Hand With Gear-Rack-Slider Mechanism
,” J. Manuf. Syst.
, 31
(1
), pp. 42
–49
.Copyright © 2019 by ASME
You do not currently have access to this content.
