Study of grasp-energy based optimal distribution of contact forces on a humanoid robotic hand during object grasp

Mukherjee, Sourajit; Mahapatra, Abhijit; Kumar, Amit; Chatterjee, Avik P.

doi:10.1017/s0263574721001235

Cited by 4 publications

(3 citation statements)

References 52 publications

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“…Compared with the existing grippers that can grasp objects with complex shapes, such as five-fingered humanoid robotic hand [7], underactuated robotic hand [18], SAU-RFC hand [19], etc., the compliant gripper proposed in this paper has the advantages of compact structure, single degree of freedom and low manufacturing cost, and owns lower stiffness due to the usage of compliant joints.…”

Section: Discussionmentioning

confidence: 99%

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A one-DOF compliant gripper mechanism with four identical twofold-symmetric Bricard linkages

Chen

Lai²,

Yang³

et al. 2022

Robotica

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Gripper is one of the most important parts of robot because of contacting with workpieces directly and has attracted lots of research interests. However, the existing grippers are either simple in function or complex in structure. In this paper, we will propose a one-DOF gripper based on a compliant mechanism with four identical twofold-symmetric Bricard linkages. A mobile network with four identical twofold-symmetric Bricard linkages with particular design parameters is constructed at first. Kinematics, such as mobility, singularity, and folding performance, is then analyzed to show the potential of realizing the function of grasping. The result is demonstrated with a physical prototype. To simplify the fabricating process, a compliant mechanism of the network is designed and fabricated with a single polypropylene board, and the grasping function is realized by a cable-driven scheme. Some grasping experiments are carried out on different types of objects which shows that the proposed and fabricated four-figure gripper is simple in structure and has a great grasping function. The work provides a new idea for the design of grippers with low cost, simple structure, and rich functions.

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Section: Discussionmentioning

confidence: 99%

“…Yang et al [6] proposed an extreme learning machine based control scheme for uncertain robot manipulation or stopping performing tactile recognition. Mukherjee et al [7] worked on a grasp optimization algorithm, for minimizing the net energy utilized by a five-fingered humanoid robotic hand for securing a precise grasp.…”

Section: Introductionmentioning

confidence: 99%

A one-DOF compliant gripper mechanism with four identical twofold-symmetric Bricard linkages

Chen

Lai²,

Yang³

et al. 2022

Robotica

View full text Add to dashboard Cite

show abstract

“…This method is also often adopted to analyze the kinematics and statics of the manipulator. [19][20][21] In the aforementioned research, seldom were the kinetostatics discussed in screw coordinates in such a way. The main contributions of this paper are therefore as follows: (1) The proposed method is very concise in calculating the joint force of a serial robot based on the reciprocal screw.…”

Section: Introductionmentioning

confidence: 99%

Kinetostatics of a serial robot in screw form

Zhao

Sun

2023

Advances in Mechanical Engineering

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Kinetostatics of a robot is an essential component of robotic analysis that includes actuation distribution and torque control. The extant methods mainly include the static transfer formulae and force Jacobian matrix algorithms based on the Denavit-Hartenberg (D-H) method. They can calculate the joint driving torque, but there are some limitations. This paper proposes a kinetostatics approach for analyzing the driving torque of serial manipulators. The instantaneous work done by the external load is expressed with reciprocal screw. It is the key idea of the approach to derive the kinetostatics equation in screw form and determine the required torque at each joint. This methodology is straightforward for programming. Through kinetostatic analysis of some typical serial manipulators, this paper shows the process of establishing the kinetostatics of every joint to calculate the torque in Plücker coordinates. The general spatial manipulator was analyzed and the solution demonstrates the universality of the method presented in this paper. In addition, the kinetostatic analysis method applies to all kinds of serial manipulators.

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Design characterization of 3D printed compliant gripper

Mayyas

2022

Meccanica

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Study of grasp-energy based optimal distribution of contact forces on a humanoid robotic hand during object grasp

Cited by 4 publications

References 52 publications

A one-DOF compliant gripper mechanism with four identical twofold-symmetric Bricard linkages

A one-DOF compliant gripper mechanism with four identical twofold-symmetric Bricard linkages

Kinetostatics of a serial robot in screw form

Design characterization of 3D printed compliant gripper

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