Abstract
This paper describes a new concept in underactuated hand design, motivated by a study of parallel mechanisms. Inspired by the end-effector motion and system reconfiguration in parallel wrists, we propose a morphology of fingers such that during fingertip precision manipulation the instantaneous screw axes, which describe the displacement of the grasped object respect to the palm of the hand, always intersect at the same known fixed point regardless of the object’s particularities. A physical hand was built to evaluate the feasibility of the design concept in improving precision manipulation capabilities while preserving power-grasping functionality. The tendon-driven hand is underactuated, with one actuator for each of the two-degree-of-freedom fingers, and passive rotary fingertips are used to minimize slip at contact points during manipulation. Experimental results with the hand demonstrate the effectiveness of the concept, thus encouraging further research in the area.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Bullock, I.M., Ma, R.R., Dollar, A.M.: A hand-centric classification of human and robot dexterous manipulation. IEEE Trans. Haptics 6(2), 129–144 (2013)
Ma, R.R., Dollar, A.M.: On dexterity and dexterous manipulation. ICAR (2011)
Li, Z., Hsu, P., Sastry, S.: Grasping and coordinate manipulation by a multifingered robot hand. Int. J. Robot. Res. 8(4), 33–50 (1989)
Odhner, L.U., Ma, R.R., Dollar, A.M.: Exploring dexterous manipulation workspaces with the iHY Hand. J. Robot. Soc. Jpn. 32(4), 318–322 (2014)
Balasubramanian, R., Belter, J.T., Dollar, A.M.: Disturbance response of two-link underactuated serial-link chains. J. Mech. Robot. 4(2) (2012)
Birglen, L., Gosselin, C., Laliberté, T.: Underactuated Robotic Hands, vol. 40. Springer, Berlin (2008)
Kerr, J., Roth, B.: Analysis of multifingered hands. Int. J. Robot. Res. 4(4), 3–17 (1986)
Bicchi, A., Melchiorri, C., Balluchi, D.: On the mobility and manipulability of general multiple limb robots. IEEE Trans. Robot. Autom. 11(2), 215–228 (1995)
Rojas, N., Dollar, A.M.: Characterization of the precision manipulation capabilities of robot hands via the continuous group of displacements. In: IROS (2014)
Borrà s, J., Dollar, A.M.: Analyzing dexterous hands using a parallel robots framework. Autonom. Robots 36(1–2), 169–180 (2014)
Ebert-Uphoff, I., Voglewede, P.A.: On the connections between cable-driven robots, parallel manipulators and grasping. In: ICRA (2004)
Di Gregorio, R.: Kinematics of the 3-UPU wrist. Mech. Mach. Theory 38(3), 253–263 (2003)
Carricato, M., Parenti-Castelli, V.: A novel fully decoupled two-degrees-of-freedom parallel wrist. Int. J. Robot. Res. 23(6), 661–667 (2004)
Ulrich, N., Paul, R., Bajcsy, R.: A medium-complexity compliant end effector. In: ICRA (1988)
Robotiq 3-finger adaptive robot gripper. http://www.robotiq.com/en/products/industrial-robot-hand/
Odhner, L.U., Jentoft, L.P., Claffee, M.R., Corson, N., Tenzer, Y., Ma, R.R., Buehler, M., Kohout, R., Howe, R.D., Dollar, A.M.: A compliant, underactuated hand for robust manipulation. Int. J. Robot. Res. 33(5), 736–752 (2014)
Hervé, J.M.: Analyse structurelle des mécanismes par groupe des deplacements. Mech. Mach. Theory 13(4), 437–450 (1978)
Hunt, K.H.: Kinematic Geometry of Mechanisms. Oxford University Press, Clarendon (1978)
Tischler, C.R., Samuel, A.E., Hunt, K.H.: Kinematic chains for robot hands-II. Kinematic constraints, classification, connectivity, and actuation. Mech. Mach. Theory 30, 1217–1239 (1995)
Hervé, J.M.: Note about the 3-UPU wrist. Mec. Mach. Theory 39, 901–904 (2004)
Qinchuan, L., Zhen, H., Hervé, J.M.: Type synthesis of 3R2T 5-DOF parallel mechanisms using the Lie group of displacements. IEEE Trans. Robot. Autom. 20, 173–180 (2004)
Fanghella, P., Galletti, C.: Particular or general methods in robot kinematics?: both particular and general. Mech. Mach. Theory 24, 383–394 (1989)
Ma, R.R., Odhner, L.U., Dollar, A.M.: A modular, open-source 3d printed underactuated hand. In: ICRA (2013)
Ma, R.R., Belter, J.T., Dollar, A.M.: Hybrid deposition manufacturing: design strategies for multi-material mechanisms via 3D-printing and material deposition. J. Mech. Robot. (2015)
Smooth-On PMC®-780 Industrial Urethane Rubber Compound. http://www.smooth-on.com/Urethane-Rubber-an/c6_1117_1148/index.html
Smooth-On Vytaflex® Urethane Rubber—For Perfect Concrete Castings. http://www.smooth-on.com/Urethane-Rubber-an/c6_1117_1142/index.html
Hunt, K.H., Torfason, L.E.: A three-fingered pantograph manipulator—a kinematic study. J. Mech. Des. 109(2), 171–177 (1987)
Bicchi, A., Marigo, A.: Dexterous grippers: putting nonholonomy to work for fine manipulation. Int. J. Robot. Res. 21(5–6), 427–442 (2002)
Tincani, V., Catalano, M.G., Farnioli, E., Garabini, M., Grioli, G., Fantoni, G., Bicchi, A.: Velvet fingers: a dexterous gripper with active surfaces. In: IROS, pp. 1257–1263 (2012)
Ascension Technology Corporation. http://www.ascension-tech.com/medical/pdf/TrakStarWRTSpecSheet.pdf
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Ma, R.R., Rojas, N., Dollar, A.M. (2016). Towards Predictable Precision Manipulation of Unknown Objects with Underactuated Fingers. In: Ding, X., Kong, X., Dai, J. (eds) Advances in Reconfigurable Mechanisms and Robots II. Mechanisms and Machine Science, vol 36. Springer, Cham. https://doi.org/10.1007/978-3-319-23327-7_79
Download citation
DOI: https://doi.org/10.1007/978-3-319-23327-7_79
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-23326-0
Online ISBN: 978-3-319-23327-7
eBook Packages: EngineeringEngineering (R0)