Development of a four-fingered dexterous robot end effector for Space operations

Akin, David L.; Carignan, Craig R.; Foster, Anthony W.

doi:10.1109/robot.2002.1013575

Cited by 28 publications

(20 citation statements)

References 6 publications

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“…A special emphasis has been placed on the reduction of the number of degrees of freedom (DOF), thereby decreasing the number of required actuators. In particular, the SSL hand (Akin et al, 2002), the DIES-DIEM hand (Biagiotti et al, 2001) and the Cassino finger (Figliolini and Ceccarelli, 2002) have followed this path. On the other hand, a rapidly growing number of prototypes involve a smaller number of actuators without decreasing the number of DOF by taking advantages of self-adaptive, a.k.a.…”

Section: Self-adaptive Fingersmentioning

confidence: 93%

The kinematic preshaping of triggered self-adaptive linkage-driven robotic fingers

Birglen

2011

Mech. Sci.

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Abstract. In this paper, the issue of the kinematic -as opposed to dynamic -preshaping of self-adaptive robotic fingers driven by linkages is discussed. A method to obtain designs of these fingers capable of various behaviours during their closing motions is presented. The method is based on using triggered passive elements in carefully selected joints of the finger and the selection or optimization of geometric parameters to obtain particular kinematic relationships between the motions of the phalanges. This method is very general and can be applied to any self-adaptive robotic finger in order to obtain many different types of closing motions. Examples given in this paper are focusing on two different preshaping motions, the first one aims at allowing pinch grasps while the second mimics a human finger. The fundamental aim of this paper is to show that various preshapings of self-adaptive fingers are possible, not just one, and to give two step-by-step examples.

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Section: Self-adaptive Fingersmentioning

confidence: 93%

The kinematic preshaping of triggered self-adaptive linkage-driven robotic fingers

Birglen

2011

Mech. Sci.

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“…To overcome the limited success of the early hand designs, considerable emphasis has been placed in reducing the number of degrees of freedom (DOFs) without sacrificing dexterity and thereby reducing the required number of actuators. In particular, the SSL hand (Akin, 2002), the Graspar hand (Crisman et al, 1996), the DIES-DIEM hand (Biagotti et al, 2001), and the TBM hand (Dechev et al, 2001) have followed this path. There are a few prototypes which use a smaller number of actuators but do not decrease the number of DOFs.…”

Section: Introductionmentioning

confidence: 91%

Design and control of three fingers motion for dexterous assembly of compliant elements

Widhiada¹,

Douglas²,

Jenkinson³

et al. 1970

Int. J. Eng. Sci. Tech

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In this paper, the authors describe and demonstrate how a three fingered gripper can be designed and simulated to provide both gross motion and fine motion to the fingers. Satisfactory motion responses for the finger simulation are achieved. The fine motion including force feedback and the gross motions, which orientate the fingers into their approximate configuration are provided by a classical PD control strategy. The force controlling gripper in contact with the environment is very important in industry applications. The fingers are to be controlled in a manner which mimics the kinematics and dynamics of the thumb force finger and index finger of a human hand. This mimicry is required to design the correct motions and tactile forces necessary to handle delicate and non delicate engineering components. In order to evaluate the design philosophy and capability of the three fingered gripper, a challenging assembly process has been identified. This is assembly of a gas regulator valve which is currently being manually assembled since the dexterous motions of the human hand out perform current automatic assembly strategies. The three fingered gripper assembly was built using Solidworks software tool, and it's mechanical assembly representation was established in SimMechanics.

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“…The three fingered HRP-3 hand provides a significant grasping capability to an impressive walking humanoid [2]. The SSL hand pursues compatibility with a large number of tools through a balance between simplicity and dexterity [3]. The most recent DLR design has moved from an intrinsic to an extrinsic design [4] adding to a series of impressive and capable designs [5], [6].…”

Section: Introductionmentioning

confidence: 99%

The Robonaut 2 hand - designed to do work with tools

Bridgwater¹,

Ihrke

Diftler³

et al. 2012

2012 IEEE International Conference on Robotics and Automation

147

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Abstract-The second generation Robonaut hand has many advantages over its predecessor. This mechatronic device is more dexterous and has improved force control and sensing giving it the capability to grasp and actuate a wider range of tools. It can achieve higher peak forces at higher speeds than the original.Developed as part of a partnership between General Motors and NASA, the hand is designed to more closely approximate a human hand.Having a more anthropomorphic design allows the hand to attain a larger set of useful grasps for working with human interfaces. Key to the hand's improved performance is the use of lower friction drive elements and a redistribution of components from the hand to the forearm, permitting more sensing in the fingers and palm where it is most important. The following describes the design, mechanical/electrical integration, and control features of the hand. Lessons learned during the development and initial operations along with planned refinements to make it more effective are presented.

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Development of a four-fingered dexterous robot end effector for Space operations

Cited by 28 publications

References 6 publications

The kinematic preshaping of triggered self-adaptive linkage-driven robotic fingers

The kinematic preshaping of triggered self-adaptive linkage-driven robotic fingers

Design and control of three fingers motion for dexterous assembly of compliant elements

The Robonaut 2 hand - designed to do work with tools

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