Kinematic Synthesis of Multi-Fingered Robotic Hands for Finite and Infinitesimal Tasks

Simo-Serra, Edgar; Pérez-Gracia, Alba; Moon, Hyosang; Robson, Nina

doi:10.1007/978-94-007-4620-6_22

Cited by 14 publications

(10 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In addition to the design equations, different equations can be included, for example relationships between joint axes would be considered as additional constraints c. Furthermore, the design equations can be modified to handle velocities and accelerations as done in [45].…”

Section: Design Equationsmentioning

confidence: 99%

See 1 more Smart Citation

Kinematic synthesis using tree topologies

Simo-Serra¹,

Pérez-Gracia²

2014

Mechanism and Machine Theory

View full text Add to dashboard Cite

This paper presents a methodology for the description and finite-position dimensional synthesis of articulated systems with multiple end-effectors. The articulated system is represented as a rooted tree graph. Graph and dimensional synthesis theories are applied to determine when exact finite-position synthesis can be performed on the tree structures by considering the motion for all the possible subgraphs. Several examples of tree topologies are presented and synthesized. This theory has an immediate application on the design of novel multi-fingered hands.

show abstract

Section: Design Equationsmentioning

confidence: 99%

“…(44) to construct the edges leading to the end-effectors and Eqn. (45). There are in general 2 b − 2 possible proper subgraphs given a root node.…”

Section: −41 11mentioning

confidence: 99%

Kinematic synthesis using tree topologies

Simo-Serra¹,

Pérez-Gracia²

2014

Mechanism and Machine Theory

View full text Add to dashboard Cite

show abstract

“…The third approach becomes unwieldy when dealing with complex geometries. It has been applied for singlefinger design (Dai and Wang, 2007), and also for structures that take into account several fingers (Simo-Serra et al, 2012). However, it implies the resolution of very complex systems of equations and solutions are optimal only for very specific tasks that specify a discrete number of configurations and velocities in the workspace.…”

Section: Dimensional Synthesis Approachmentioning

confidence: 99%

Dimensional synthesis of three-fingered robot hands for maximal precision manipulation workspace

Borràs

Dollar

2015

The International Journal of Robotics Research

View full text Add to dashboard Cite

This paper applies dimensional synthesis to explore the geometric design of dexterous three-fingered robotic hands for maximizing precision manipulation workspace, in which the hand stably moves an object with respect to the palm of the hand, with contacts only on the fingertips. We focus primarily on the tripod grasp, which is the most commonly used grasp for precision manipulation. We systematically explore the space of design parameters, with two main objectives: maximize the workspace of a fully actuated hand and explore how under-actuation modifies it. We use a mathematical framework that models the hand-plus-object system and examine how the workspace varies with changes in nine hand and object parameters such as link length and finger arrangement on the palm. Results show that to achieve the largest workspaces the palm radius should be approximately half of a finger length larger than the target object radius, that the distal link of the two-link fingers should be around 1-1.2 times the length of the proximal link, and that fingers should be arranged symmetrically about the palm with object contacts also symmetric. Furthermore, a proper parameter design for an under-actuated hand can achieve up to 50% of the workspace of a fully actuated hand. When compared to the system parameters of existing popular hand designs, larger palms and longer distal links are needed to maximize the manipulation workspace of the studied design.

show abstract

“…The dimensional synthesis of the tree topologies has been explored in Simo-Serra et al (2011), Simo-Serra et al (2012 and more extensively in Simo-Serra and PerezGracia (2014). The synthesis of tree topologies, when applied to wristed multifingered hands, allows creating robotic hands for in-palm manipulation tasks, for instance, or complete arm-plus-hand designs.…”

Section: Introductionmentioning

confidence: 99%

Design of a Dexterous Hand for a Multi-hand Task

Hassanzadeh

Movassagh-Khaniki

Pérez-Gracia

2016

CISM International Centre for Mechanical Sciences

View full text Add to dashboard Cite

Kinematic synthesis applied to tree topologies is a tool for the design of multi-fingered robotic hands, for a simultaneous task of all fingertips. Dexterous multi-fingered robotic hands can be designed to perform collaborative tasks that are traditionally performed by more than one robotic manipulator. Such collaborative tasks require multiple robotic arms and a method to control their coordinate operation. In this work, the synthesis process for the design of a single robotic hand for a bimanual task is discussed, with application to the task of holding and peeling an orange.

show abstract

Kinematic Synthesis of Multi-Fingered Robotic Hands for Finite and Infinitesimal Tasks

Cited by 14 publications

References 11 publications

Kinematic synthesis using tree topologies

Kinematic synthesis using tree topologies

Dimensional synthesis of three-fingered robot hands for maximal precision manipulation workspace

Design of a Dexterous Hand for a Multi-hand Task

Contact Info

Product

Resources

About