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Title: Grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers
Authors: Dong, Huixu
Ehsan Asadi
Qiu, Chen
Dai, Jiansheng
Chen, I-Ming
Keywords: Engineering::Mechanical engineering
Issue Date: 2018
Source: Dong, H., Ehsan Asadi, Qiu, C., Dai, J., & Chen, I.-M. (2018). Grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers. Mechanism and Machine Theory, 130, 447-462. doi:10.1016/j.mechmachtheory.2018.08.028
Journal: Mechanism and Machine Theory
Abstract: In this work, we focus on building the model of optimization design of the fingertip to evaluate the best fingertip shape and determining the size range of objects grasped by fingertips steadily. We describe the effect of fingertip dimension on the stability of fingertip grasp, while other existing works mostly paid close attention to stability analysis for existing fingertip designs or prototypes. First, we elaborate on a versatile force-form analysis approach to quantifying the grasp stability by constructing a series of mathematical models under rolling constraints. Second, the best performing fingertip shape is indicated for realizing stable fingertip grasps. Next, the relations between the dimension of the fingertip, the size of objects, and the posture of the fingertip relative to a stable contact point are expressed by mathematical formulations in geometric constraints. Finally, an under-actuated gripper with two 3-link fingers is designed and performs practical experiments to demonstrate for verifying the presented analysis and models.
ISSN: 0094-114X
DOI: 10.1016/j.mechmachtheory.2018.08.028
Rights: © 2018 Elsevier Ltd. All rights reserved.
Fulltext Permission: none
Fulltext Availability: No Fulltext
Appears in Collections:RRC Journal Articles

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