PASA-GB Hand: a Novel Parallel and Self-adaptive Robot Hand with Gear-belt Mechanisms

被引：21
作者：
Liang, Dayao [1 ,2 ,3 ]
Zhang, Wenzeng [1 ,2 ,3 ]
机构：
[1] Tsinghua Univ, State Key Lab Tribol, Beijing, Peoples R China
[2] Tsinghua Univ, Key Lab Adv Mat Proc Technol MOE, Beijing, Peoples R China
[3] Tsinghua Univ, Dept Mech Engn, Beijing, Peoples R China
来源：
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2018年 / 90卷 / 1-2期
基金：
中国国家自然科学基金;
关键词：
Robot hand; Underactuated finger; Parallel and self-adaptive grasp; Grasping stability; DESIGN; TACTILE;
D O I：
10.1007/s10846-017-0644-0
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper introduces a novel underactuated hand, the PASA-GB hand, which has a hybrid grasping mode. The hybrid grasping mode is a combination of parallel pinching (PA) grasp and self-adaptive enveloping (SA) grasp. In order to estimate the performance of grasping objects, the potential energy method is used to analyze the grasping poses and stabilities of the PASA-GB hand. The calculation of force distribution shows the influence of the size and position of objects and provides a method to optimize the force distribution. The switch condition between pinching and enveloping grasp is analyzed in detail. Experimental results verify wide adaptability and high practicability of the PASA-GB hand.
引用
收藏
页码：3 / 17
页数：15
相关论文
共 25 条
[1]  
Ali H., 2011, 2011 Third International Conference on Computational Intelligence, Modelling and Simulation, P175, DOI 10.1109/CIMSim.2011.89
[2]   Design and testing of a selectively compliant underactuated hand [J].
Aukes, Daniel M. ;
Heyneman, Barrett ;
Ulmen, John ;
Stuart, Hannah ;
Cutkosky, Mark R. ;
Kim, Susan ;
Garcia, Pablo ;
Edsinger, Aaron .
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2014, 33 (05) :721-735
[3]   Mechanical design of a new pneumatically driven underactuated hand [J].
Begoc, V. ;
Krut, S. ;
Dombre, E. ;
Durand, C. ;
Pierrot, F. .
PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, :927-933
[4]  
Bekey G.A., 1999, Control Architecture of the Belgrade/USC Hand in Dextrous Robot Hands
[5]  
Birglen L, 2005, IEEE INT CONF ROBOT, P2320
[6]  
Birglen L, 2003, IEEE INT CONF ROBOT, P1139
[7]  
Birglen L., 2008, SPRINGER TRACTS ADV
[8]  
Butterfass J, 2001, IEEE INT CONF ROBOT, P109, DOI 10.1109/ROBOT.2001.932538
[9]   The Velo gripper: A versatile single-actuator design for enveloping, parallel and fingertip grasps [J].
Ciocarlie, Matei ;
Hicks, Fernando Mier ;
Holmberg, Robert ;
Hawke, Jeffrey ;
Schlicht, Michael ;
Gee, Jeff ;
Stanford, Scott ;
Bahadur, Ryan .
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2014, 33 (05) :753-767
[10]   Data-driven Optimization for Underactuated Robotic Hands [J].
Ciocarlie, Matei ;
Allen, Peter .
2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2010, :1292-1299
123