Kinetostatic Analysis of Underactuated Fingers

Birglen, Lionel; Gosselin, Clément

doi:10.1109/tra.2004.824641

Cited by 221 publications

(124 citation statements)

References 18 publications

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“…To study the stable configurations of the finger at different stiffness settings for the joints, the kinetostatic analysis of under-actuated fingers presented by Brigle and Gosselin [32] is adopted and modified to account for the energy storage in the ASL and the friction losses. Equating the input work and the work done by the finger on the environment and the stored energies in the hinge and the ASLs, we have:…”

Section: Robogami Joint Design and Kinetostatic Study Of The Undementioning

confidence: 99%

Stiffness Control With Shape Memory Polymer in Underactuated Robotic Origamis

2017

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Abstract-Under-actuated systems offer compact designs with easy actuation and control but at the cost of limited stable configurations and reduced dexterity compared to the directly driven and fully actuated systems. Here, we propose a compact origami-based design to control the stable configurations and the overall stiffness of an under-actuated robotic finger by modulating the material stiffness of the joint. The design of the robotic finger is based on the robotic origami design principle in which multiple functional layers are integrated to make a nominally 2D robot with a desired functionality. To control the stiffness of the structure, we controlled the elastic modulus of a shape memory polymer (SMP) via embedded customized stretchable heater. We monitor the configuration of the finger using the feedback from the customized curvature sensors embedded in each joint. We studied the stable configurations and the contact forces of a finger with 3 joints at different stiffness settings. A scaled down version of the design was used in a gripper with two fingers and different grasp modes were demonstrated through activating different set of joints.

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Section: Robogami Joint Design and Kinetostatic Study Of The Undementioning

confidence: 99%

Stiffness Control With Shape Memory Polymer in Underactuated Robotic Origamis

2017

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“…The introduction of two new matrices in [15] allows the system to calculate the contact forces on the phalanges through the input torque of the finger actuator in the case of full-phalanx grasping. Configurations of the finger leading to stable grasps are considered by using these two matrices.…”

Section: Discussionmentioning

confidence: 99%

“…A grasp state is defined as the set of the geometric configurations of the finger and the contact locations on the phalanges, which are necessary to characterize the behaviour of the finger. Important parameters are denoted as follows: In previous research [15], Lionel Birglen et al analysed and discussed the stability of the grasp -i.e., equilibrium and ejection phenomenon, achieving stable grasps and phalanx force distribution, and avoiding weak last phalanges that cannot ensure sufficient force to secure the grasp.…”

Section: Related Workmentioning

confidence: 99%

“…In previous research [15], Lionel Birglen et al analysed and ejection phenomenon, achieving stable grasps and phalanx cannot ensure sufficient force to secure the grasp. Figure 2.…”

Section: General N-dof One Degree Of Actuation (Doa) Fingermentioning

confidence: 99%

“…Coming back to our issue, the set of parameters presented in Table 1 (which corresponds approximately to the parameters used in prototypes of under-actuated hands [15]), taking into account the mechanical joint limits, [11] insists on the mechanical joint limits of 0 < θ i < 90 o to avoid the latter type of ejection. Furthermore, one should remember that full-phalanx grasps correspond only to a part of the whole possible grasps.…”

Section: Stability Of the Grasp Of The 3-dof Under-actuated Fingermentioning

confidence: 99%

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A General Contact Force Analysis of an Under-Actuated Finger in Robot Hand Grasping

Nguyen

2016

International Journal of Advanced Robotic Systems

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This paper develops a mathematical analysis of contact forces for the under-actuated finger in a general underactuated robotic hand during grasping. The concept of under-actuation in robotic grasping with fewer actuators than degrees of freedom (DOF), through the use of springs and mechanical limits, allows the hand to adjust itself to an irregularly shaped object without complex control strategies and sensors. Here the main concern is the contact forces, which are important elements in grasping tasks, based on the proposed mathematical analysis of their distributions of the n-DOF under-actuated finger. The simulation results, along with the 3-DOF finger from the ADAMS model, show the effectiveness of the mathematical analysis method, while comparing them with the measured results. The system can find magnitudes of the contact forces at the contact positions between the phalanges and the object.

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Carton erection using reconfigurable folder mechanisms

2009

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Consideration of the motions involved in erecting a range of carton types shows that the individual motions are essentially simple. It is the combination of them that gives the complexity that is often required. This suggests that it is possible to design mechanisms to generate the individual motions and then combine these, thus creating an approach that allows reconfi guration for different carton sizes and styles. The design of a novel reconfi gurable folder mechanism is discussed and it is shown how several folders can be combined to erect carton trays of varying sizes in times comparable with those for corresponding dedicated machines.

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Kinetostatic Analysis of Underactuated Fingers

Cited by 221 publications

References 18 publications

Stiffness Control With Shape Memory Polymer in Underactuated Robotic Origamis

Stiffness Control With Shape Memory Polymer in Underactuated Robotic Origamis

A General Contact Force Analysis of an Under-Actuated Finger in Robot Hand Grasping

Carton erection using reconfigurable folder mechanisms

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