Designing an underactuated mechanism for a 1 active DOF finger operation. (English) Zbl 1188.70041
Summary: A novel finger mechanism with 1 active DOF is proposed for an underactuated operation. The underactuation mechanism design is based on spring elements within the mechanism structure. The feasibility of the mechanism is verified through suitable kinematic and static analysis to give performance characteristics. The finger mechanism is able to obtain a human-like grasping operation and it can be embedded within the finger body with human-size mechanical design. The proposed finger mechanism is presented also as obtained from a synthesis procedure which is based on the analyzed characteristics. A design solution is proposed and tested through numerical simulation.
MSC:
| 70B15 | Kinematics of mechanisms and robots |
References:
| [1] | M. Ceccarelli, C. Tavolieri, Z. Lu, Design considerations for underactuated grasp with a one D.O.F. anthropomorphic finger mechanism, in: Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006), Beijing, October 2006, pp. 1611 – 1616. |
| [2] | J.D. Crisman, C. Kanojia, I. Zeid, US Patent 5570920, November 5, 1996. |
| [3] | J.F. Mullen, US Patent 3694021, September 26, 1972. |
| [4] | B. Massa, S. Roccella, M.C. Carrozza, P. Dario, Design and development of an underactuated prosthetic hand, in: Proceedings of the 2002 IEEE International Conference on Robotics & Automation (ICRA 2002), Washington, May 2002, pp. 3374 – 3379. |
| [5] | Carrozza, M. C.; Suppo, C.; Sebastiani, F.; Massa, B.; Vecchi, F.; Lazzarini, R.; Cutkosky, M. R.; Dario, P.: The SPRING hand: development of a self-adaptive prosthesis for restoring natural grasping, Autonomous robots 16, 125-141 (2004) |
| [6] | R. Cabas, L.M. Cabas, C. Balaguer, Optimized design of the underactuated robotic hand, in: Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA 2006), Orlando, May 2006, pp. 982 – 987. |
| [7] | S. Krut, A force-isotropic underactuated finger, in: Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA 2005), Barcelona, April 2005, pp. 2314 – 2319. |
| [8] | Dechev, N.; Cleghorn, W. L.; Naumann, S.: Multiple finger, passive adaptive grasp prosthetic hand, Mechanism and machine theory 36, 1157-1173 (2001) · Zbl 1140.70430 · doi:10.1016/S0094-114X(01)00035-0 |
| [9] | M.C. Carrozza, G. Cappiello, G. Stellin, F. Zaccone, F. Vecchi, S. Micera, P. Dario, A cosmetic prosthetic hand with tendon driven under-actuated mechanism and compliant joints: ongoing research and preliminary results, in: Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA 2005), Barcelona, April 2005, pp. 2661 – 2666. |
| [10] | Ceccarelli, M.: Fundamentals of mechanics of robotic manipulation, (2004) · Zbl 1113.93001 |
| [11] | C.M. Gosselin, Laliberte Thierry, US Patent 5762390, June 9, 1998. |
| [12] | T. Laliberte, C.M. Gosselin, Actuation system for highly underactuated gripping mechanism, US Patent 6505870, January 14, 2003. |
| [13] | Laliberte, T.; Gosselin, C. M.: Simulation and design of underactuated mechanical hands, Mechanism and machine theory 33, 39-57 (1998) · Zbl 1052.70507 · doi:10.1016/S0094-114X(97)00020-7 |
| [14] | Birglen, L.; Gosselin, C. M.: Kinetostatic analysis of underactuated fingers, IEEE transactions on robotics and automation 20, No. 2, 211-221 (2004) |
| [15] | J. Zhao, L. Jiang, S. Shi, H. Cai, H. Liu, G. Hirzinger, A five-fingered underactuated prosthetic hand system, in: Proceedings of the 2006 IEEE International Conference on Mechatronics and Automation, Luoyang, June 25 – 28, 2006, pp. 1453 – 1458. |
| [16] | Zhang, W.; Chen, Q.; Sun, Z.: Under-actuated humanoid robot hand with changeable grasping force, Journal of tsinghua univ (Sci & tech) 43, No. 8, 1143-1147 (2003) |
| [17] | Birglen, L.; Gosselin, C. M.: Grasp-state plane analysis of two-phalanx underactuated fingers, Mechanism and machine theory 41, 807-822 (2006) · Zbl 1098.70009 · doi:10.1016/j.mechmachtheory.2005.10.004 |
| [18] | Rodriguez, N. E. N.; Carbone, G.; Ceccarelli, M.: Optimal design of driving mechanism in a 1-DOF anthropomorphic finger, Mechanism and machine theory 41, 897-911 (2006) · Zbl 1122.70006 · doi:10.1016/j.mechmachtheory.2006.03.016 |
| [19] | R. Civitillo, Design and experimental validation of an anthropomorphic finger with one d.o.f., Master thesis, LARM, University of Cassino, Cassino, 2001. (in Italian). |
| [20] | M. Ceccarelli, G. Carbone, E. Ottaviano, N.E. Nava Rodriguez, An experimental validation of a three-fingered hand with 1 d.o.f. anthropomorphic fingers, in: Proceedings of the International Conference on Intelligent Manipulation and Grasping (IMG04), Genova, 2004, pp. 285 – 290. |
| [21] | LARM homepage. Available from: <http://webuser.unicas.it/weblarm/>. |
| [22] | Park, Y. C.; Starr, G. P.: Grasp synthesis of polygonal objects using a three-fingered robot hand, International journal of robotics research 11, No. 3, 163-183 (1992) |
This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. In some cases that data have been complemented/enhanced by data from zbMATH Open. This attempts to reflect the references listed in the original paper as accurately as possible without claiming completeness or a perfect matching.
