Design and experimental evaluation of a new modular underactuated multi-fingered robot hand

Tang, Shufeng; Yu, Yue; Sun, Shuaishuai; Li, Zhixiong; Sarkodie-Gyan, Thompson; Li, Weihua

doi:10.1177/0954406220916494

Cited by 6 publications

(4 citation statements)

References 39 publications

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“…The hydraulic CGR developed by Galloway et al [ 26 ] allows flexible capture and sampling in the deep sea by controlling its internal pressure. CGRs of the same principle also include the humanoid soft hand [ 27 ] and the 6-finger gripper [ 28 ]. The presence of multiple fingers has good adaptability to objects of different sizes.…”

Section: Introductionmentioning

confidence: 99%

A Versatile Continuum Gripping Robot with a Concealable Gripper

Zhang

et al. 2023

Cyborg Bionic Syst

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Continuum robots with their inherent compliance provide the potential for crossing narrow unstructured workspace and safely grasping various objects. However, the display gripper increases the size of the robots, and therefore, it tends to get stuck in constrained environments. This paper proposes a versatile continuum grasping robot (CGR) with a concealable gripper. The CGR can capture large objects with respect to the robot’s scale using the continuum manipulator and can grasp various objects using the end concealable gripper especially in narrow and unstructured workspaces. To perform the cooperative operation of the concealable gripper and the continuum manipulator, a global kinematic model based on screw theory and a motion planning approach referred to as “multi-node synergy method” for the CGR are presented. The simulation and experimental results show that objects of different shapes and sizes can be captured by the same CGR even in complex and narrow environments. Finally, in the future, the CGR is expected to serve for satellite capture in harsh space environments such as high vacuum, strong radiation, and extreme temperatures.

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Section: Introductionmentioning

confidence: 99%

A Versatile Continuum Gripping Robot with a Concealable Gripper

Zhang

et al. 2023

Cyborg Bionic Syst

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“…Underactuated mechanical systems, which own fewer control variables than degrees of freedom to be controlled, are extensively used in various industrial fields. [1][2][3][4][5][6][7][8][9][10][11] The overhead crane system, as a typical underactuated mechanical system, has been widely used in railway transportation, iron and steel chemical industry, port and other places, the main work of which is driving the cargo quickly and safely to its destination. Similar to other underactuated mechanical systems, the fact that the cargo can be only indirectly controlled by the motion of the trolley brings a great difficulty for the crane control.…”

Section: Introductionmentioning

confidence: 99%

Finite time disturbance observer design and Lyapunov-based control design for overhead cranes with double-pendulum dynamics

Li,

Wu,

Zhao

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, a novel disturbance observer and a Lyapunov-based control approach are developed for the crane control. For existing works, the assumption on the disturbances is strong and the motivation of these methods is to reject disturbances by feedback control. To tackle these problems, this paper proposes a novel composite control strategy consisting of a nonlinear control method and a finite time disturbance observer. Specifically, first, based on the system dynamic equations, a disturbance estimator is put forward, which can exactly identify the unknown disturbances in finite time. Next, an elaborate Lyapunov function is constructed and a disturbance-compensation-based control approach is presented for the overhead crane system with double-pendulum dynamics. Then, rigorous theoretical analysis is given to prove that all of the states of the closed-loop system asymptotically converge to the origin. At last, simulation tests are included to verify the effectiveness and robustness of the proposed method.

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“…Guoliang Zhong et al [13] proposed a novel soft pneumatic dexterous gripper with fingers made of silicone rubber with pleated channels to make the grasping process more flexible. Shufeng Tang et al [14] designed a robotic hand whose fingertips are made of hollow rubber to enhance gripping stability. Liu, Shoufeng et al [15] proposed a dual-module pneumatic actuator with a variable chamber height.…”

Section: Introductionmentioning

confidence: 99%

Pneumatic Bionic Hand with Rigid-Flexible Coupling Structure

et al. 2022

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This paper presents a rigid-flexible composite of bionic hand structure design scheme solution for solving the problem of low load on the soft gripping hand. The bionic hand was designed based on the Fast Pneumatic Network (FPN) approach, which can produce a soft finger bending drive mechanism. A soft finger bending driver was developed and assembled into a human-like soft gripping hand which includes a thumb for omnidirectional movement and four modular soft fingers. An experimental comparison of silicone rubber materials with different properties was conducted to determine suitable materials. The combination of 3D printing technology and mold pouring technology was adopted to complete the prototype preparation of the bionic hand. Based on the second-order Yeoh model, a soft bionic finger mathematical model was established, and ABAQUS simulation analysis software was used for correction to verify the feasibility of the soft finger bending. We adopted a pneumatic control scheme based on a motor micro-pump and developed a human–computer interface through LabView. A comparative experiment was carried out on the bending performance of the finger, and the experimental data were analyzed to verify the accuracy of the mathematical model and simulation. In this study, the control system was designed, and the human-like finger gesture and grasping experiments were carried out.

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Design and experimental evaluation of a new modular underactuated multi-fingered robot hand

Cited by 6 publications

References 39 publications

A Versatile Continuum Gripping Robot with a Concealable Gripper

A Versatile Continuum Gripping Robot with a Concealable Gripper

Finite time disturbance observer design and Lyapunov-based control design for overhead cranes with double-pendulum dynamics

Pneumatic Bionic Hand with Rigid-Flexible Coupling Structure

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