Design of a 3-DOF Linkage-Driven Underactuated Finger for Multiple Grasping

Kang, Long; Seo, Jong-Tae; Yoon, Dukchan; Kim, Sanghwa; Suh, Il Hong

doi:10.1109/iros40897.2019.8968037

Cited by 10 publications

(4 citation statements)

References 24 publications

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“…Generally, robotic grippers are classified as classical rigid grippers and soft grippers (Birglen & Schlicht, 2018; Shintake et al, 2018; Wang et al, 2023; Zhang et al, 2020). The rigid gripper/hands are classified further into two main categories: wire driven, and linkage‐driven (ACAR et al, 2021; Cianciotto et al, 2021; Do et al, 2023; Kang, Seo, Yoon, et al, 2019; Kashef et al, 2020; Ko, 2020; Nate et al, 2022; Yoon & Choi, 2021). From an actuation point of view in rigid grippers, there are two major types of grippers: fully actuated (Hermann et al, 2019; Mańkowski et al, 2020) and under‐actuated gripper (Courchesne et al, 2023; Glick et al, 2020; Kang et al, 2021; Mouazé & Birglen, 2022).…”

Section: Introductionmentioning

confidence: 99%

Design and implementation of shape‐adaptive and multifunctional robotic gripper

Aqib,

Imran,

Khan

et al. 2023

Journal of Field Robotics

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This paper presents a multifunctional underactuated two fingered adaptive grippers for grasping a wide range of objects in different working scenarios. Two layered‐based novel multifunctional gripper design is proposed by stacking a multijointed closed‐chain mechanism over a multijointed double parallelogram mechanism to achieve a maximum number of grasping techniques. The multijointed closed‐chain mechanism is employed to perform power, shape‐adaptive grasping, and a multijointed double parallelogram mechanism is used to perform scooping, parallel, and pinch grasping. For stable shape‐adaptive/power grasping, the proposed design allows more contact points between the object and the contact surface of fingers as compared to previous gripper mechanisms. Moreover, a complete mathematical model relating the contact forces at the links of each finger to the linear actuation force and spring torque is developed to conduct stability analysis of the proposed gripper design. Finally, simulations and several experiments are performed using real objects in a reconfigurable environment to demonstrate and validate the stable grasping capabilities of the proposed gripper.

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Section: Introductionmentioning

confidence: 99%

Design and implementation of shape‐adaptive and multifunctional robotic gripper

Aqib,

Imran,

Khan

et al. 2023

Journal of Field Robotics

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“…However, conventional robotic hands usually consist of rigid parts and rigid joints, which have low compliance and lack the ability to adapt to unstructured environments [3,4]. In addition, many conventional gripper ends are made of rigid materials and are in rigid contact with the object to be gripped, which requires that the object to be gripped is not fragile and deformable, which greatly limits the versatility and flexibility of a robotic gripper [5].…”

Section: Introductionmentioning

confidence: 99%

A 3D-Printed Fin Ray Effect Inspired Soft Robotic Gripper with Force Feedback

et al. 2021

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Soft robotic grippers are able to carry out many tasks that traditional rigid-bodied grippers cannot perform but often have many limitations in terms of control and feedback. In this study, a Fin Ray effect inspired soft robotic gripper is proposed with its whole body directly 3D printed using soft material without the need of assembly. As a result, the soft gripper has a light weight, simple structure, is enabled with high compliance and conformability, and is able to grasp objects with arbitrary geometry. A force sensor is embedded in the inner side of the gripper, which allows the contact force required to grip the object to be measured in order to guarantee successful grasping and to provide the most suitable gripping force. In addition, it enables control and data monitoring of the gripper’s operating state at all times. Characterization and grasping demonstration of the gripper are given in the Experiment section. Results show that the gripper can be used in a wide range of scenarios and applications, such as the service robot and food industry.

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“…Based on mechanical elements used in the power transmission system, underactuated robotic hands/grippers can be classified into three main types as follows: the wire-driven type [13][14][15][16][17][18][19][20][21][22], the linkage-driven type [23][24][25][26][27][28][29][30][31][32][33][34], the gear-driven type [35][36][37][38][39], and some combinations [40][41][42]. The wire-driven type has advantages of compact size, light weight, and good shape-adaptive properties when encompassing the object to be grasped.…”

Section: Introductionmentioning

confidence: 99%

“…For a certain range of input torque and object sizes, a balance of design stiffness and preloading of the torsion spring should be considered to maximize the stable power-grasping region [43]. In our previous study [27], a functional robotic finger prototype was designed intuitively without investigating the grasping behavior of the final design. The development of this finger prototype is primarily based on a specific CAD-aided simulation and lacks a systematic framework for its designing and analysis.…”

Section: Introductionmentioning

confidence: 99%

Modeling, Design, and Implementation of an Underactuated Gripper with Capability of Grasping Thin Objects

Kang

Kim

2021

Machines

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Underactuated robotic grippers have the advantage of lower cost, simpler control, and higher safety over the fully actuated grippers. In this study, an underactuated robotic finger is presented. The design issues that should be considered for stable grasping are discussed in detail. This robotic finger is applied to design a two-fingered underactuated gripper. Firstly, a new three-DOF linkage-driven robotic finger that combines a five-bar mechanism and a double parallelogram is presented. This special architecture allows us to put all of the required actuators into the palm. By adding a torsion spring and a mechanical stopper at a passive joint, this underactuated finger mechanism can be used to perform parallel grasping, shape-adaptive grasping, and environmental contact-based grasp. Secondly, the dynamic model of this robotic finger is developed to investigate how to select an appropriate torsion spring. The dynamic simulation is performed with a multi-body dynamic simulator to verify our proposed approach. Moreover, static grasp models of both two-point and three-point contact grasps are investigated. Finally, different types of grasping modes are verified experimentally with a two-fingered underactuated robotic gripper.

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Design of a 3-DOF Linkage-Driven Underactuated Finger for Multiple Grasping

Cited by 10 publications

References 24 publications

Design and implementation of shape‐adaptive and multifunctional robotic gripper

Design and implementation of shape‐adaptive and multifunctional robotic gripper

A 3D-Printed Fin Ray Effect Inspired Soft Robotic Gripper with Force Feedback

Modeling, Design, and Implementation of an Underactuated Gripper with Capability of Grasping Thin Objects

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