2018
DOI: 10.1016/j.mechmachtheory.2018.08.028
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Grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers

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Cited by 22 publications
(9 citation statements)
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“…A cylindrical or spherical object is considered as a general represent object [5,27] in the geometric models due to the following reasons. The surface of a cylindrical or spherical object is continuous and convex so that each link just has at most one contact point.…”
Section: Experiments and Discussion Of Grasping Stiffness Evaluationmentioning
confidence: 99%
See 1 more Smart Citation
“…A cylindrical or spherical object is considered as a general represent object [5,27] in the geometric models due to the following reasons. The surface of a cylindrical or spherical object is continuous and convex so that each link just has at most one contact point.…”
Section: Experiments and Discussion Of Grasping Stiffness Evaluationmentioning
confidence: 99%
“…The quality analysis of grasping stability is one of the foundational problems for robotic grasp [2]. The formulation and characteristics of the stability quality thus play a key role in grasping tasks such as planning and executing a grasp, designing robotic hand [3][4][5](see Fig. 1).…”
Section: Introductionmentioning
confidence: 99%
“…Horowitz and Burdick [22] presented an algorithm for treating the tasks of arm trajectory planning, grasp planning, contact force optimization, and object manipulation as a single problem. Dong et al [23] analyzed the grasp stability of precision grasps, using a force-form based analysis, to optimize the design of an underactuated two-finger gripper. Fan and Tomizuka [24] introduced a grasp planning framework that used multidimensional surface fitting and a corresponding grasp trajectory optimization algorithm for grasping complex objects.…”
Section: Review Of Previous Workmentioning
confidence: 99%
“…It is to be noted that although there are many algorithms available for minimizing joint torques or calculating optimal contact force distribution during object grasp, most of the studies are typically restricted to hard point contact between rigid bodies [17,23,[33][34][35][36] with few investigations in recent past on soft robotics [37]. However, the investigations reconciling Hertz's contact stress theory with deformable gripper behavior are not comprehensive.…”
Section: Review Of Previous Workmentioning
confidence: 99%
“…High cost and high complexity design cannot enable robotic grippers to be refined into products. To moderate these limitations, researchers have proposed underactuated robotic grippers with tendon-driven mechanisms (TDMs) [108,[147][148][149][150][151]. The use of TDMS can reduce the cost and simplify the structure design due to the less need of actuators, but achieves almost the same actions with full actuated mechanism in some scenarios.…”
Section: Chapter 6 Geometric Design Optimization Of Underactuated Grimentioning
confidence: 99%