A compound robotic hand with two under-actuated fingers and a continuous finger

Abstract

This Paper proposes a compound robotic hand that benefits the features of both underactuated and continuous systems. This hand consists of two underactuated tendon-driven fingers and a single section continuous finger. The continuous finger helps to increase the Manipulation capabilities of grasping. Each underactuated finger is composed of three phalanges that are actuated with one tendon with appropriate embedded tendon guide, and the continuous finger is driven by three cables. By pulling the wire using mechanically driven actuators, the flexion of the three-phalange fingers and the desired shape of the continuous finger are obtained. After the conceptual design, fabrication, and performance analysis of the hand, Kinematic equations of the continuous finger are discussed, and finally, the form-closure property of grasp is studied.

A fully rotational joint underactuated finger mechanism and its kinematics analysis

“…Supposing the finger begins to grasp from the pose of horizontal straighten out (as shown in Figure 14), at this point the motor's initial driven angle 3 , respectively. The radius of the cylinder is 30 mm, and the center coordinates are (3.5, À44.2).…”

“…2 Since then lots of research have also used tendon-driven mechanism. Sabetian et al 3 proposed a compound robotic hand, which consisted of two underactuated tendon-driven fingers and a single-section continuous finger. Niola et al 4 proposed an underactuated tendon-driven mechanical hand of five fingers.…”

A Slip Detection and Correction Strategy for Precision Robot Grasping

“…If the object is unknown or there is uncertainty in the object characteristics (eg: center of mass, surface friction) then the problem is more difficult. Recent advances in compliant, under-actuated hands have simplified the problem of executing a power grasp even with considerable uncertainty [2], [3], [4]. Yet there are many tasks beyond simple pick and place where precision grasps are necessary and where dexterity and manipulation play a central role.…”

Dynamics Modeling of a Continuum Robotic Arm with a Contact Point in Planar Grasp

“…Continuum robots are inspired by biological manipulators, such as octopus arms, mammalian tongues, and elephant trunks [2] and are close to ordinary hyperredundant manipulators, such as snakes and spines [3][4][5]. Due to their special characteristics, continuum robots can perform a variety of tasks, such as dexterous manipulation [6,7], whole arm grasping [8,9], and ordinary underactuated grasp [10].…”