Hostname: page-component-76d6cb85b7-f97m6 Total loading time: 0 Render date: 2026-07-22T10:47:43.075Z Has data issue: false hasContentIssue false
  • English
  • Français

Development of a linear-parallel and self-adaptive under-actuated hand compensated for the four-link and sliding base mechanism

Published online by Cambridge University Press:  22 October 2021

Jianfeng Li ,
Yuan Kong ,
Mingjie Dong Open the ORCID record for Mingjie Dong [Opens in a new window]  and
Ran Jiao
Jianfeng Li
Affiliation:
Beijing Key Laboratory of Advanced Manufacturing Technology, Faculty of Materials and Manufacturing, Beijing University of Technology, Beijing, 100124, P.R. China
Yuan Kong
Affiliation:
Beijing Key Laboratory of Advanced Manufacturing Technology, Faculty of Materials and Manufacturing, Beijing University of Technology, Beijing, 100124, P.R. China
Mingjie Dong*
Affiliation:
Beijing Key Laboratory of Advanced Manufacturing Technology, Faculty of Materials and Manufacturing, Beijing University of Technology, Beijing, 100124, P.R. China
Ran Jiao
Affiliation:
Beijing Key Laboratory of Advanced Manufacturing Technology, Faculty of Materials and Manufacturing, Beijing University of Technology, Beijing, 100124, P.R. China
*
*Corresponding author. E-mail: dongmj@bjut.edu.cn
Get access Rights & Permissions [Opens in a new window]

Abstract

When the under-actuated hand pinches the object on the worktable, the trajectory of the end of the finger is not a straight line, which makes it difficult for the hand to grasp the object from its both sides. In order to overcome this shortcoming, this paper proposes a new configuration of the linear-parallel and self-adaptive under-actuated hand which uses the four-link and sliding base mechanism to compensate for the vertical displacement of the end of the finger. Based on this new configuration, the mechanical structure of the under-actuated hand is designed, which has five degrees of freedom (DOFs), and is mainly composed of two fingers, a sliding base, four link compensation mechanisms and an outer base. These two fingers have exactly the same structure and size, where each finger uses only one motor to control two joints of the finger which realizes the under-actuated function. Through the cooperation of the four-link and sliding base mechanism, the under-actuated hand can realize the linear-parallel and self-adaptive hybrid grasping mode. Kinematics analysis and contact force analysis of the under-actuated hand are discussed, and the prototype of the under-actuated hand is developed to carry out the grasping experiments. The results of the simulation and experiment all show that the under-actuated hand has good motion performance and grasping stability and can be used as an end effector for intelligent robots.

Keywords

robotic handunder-actuatedhybrid grasplinear-parallel and self-adaptive

Information

Type
Research Article
Information
Robotica , Volume 40 , Issue 6 , June 2022 , pp. 2047 - 2064
Copyright
© The Author(s), 2021. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

Garcia, E., Jimenez, M. A., Santos, P. D. and Armada, M., “The evolution of robotics research,” IEEE Rob. Autom. Mag. 14(1), 90–103 (2007).CrossRefGoogle Scholar
Kashef, S. R., Amini, S. and Akbarzadeh, A., “Robo tic hand: A review on linkage-driven finger mechanisms of prosthetic hands and evaluation of the performance criteria,” Mech. Mach. Theory. 145, 103677 (2020).CrossRefGoogle Scholar
Zuo, S., Li, J., and Dong, M., “Design, modeling, and manipulability evaluation of a novel four-DOF parallel gripper for dexterous in-hand manipulation,” J. Mech. Sci. Technol. 35(7), 3145–3160 (2021).CrossRefGoogle Scholar
Narasimhan, S., Siegel, D., Hollerbach, J., Biggers, K. and Gerpheide, G., “Implementation of control methodologies on the computational architecture for the Utah/MIT hand,” IEEE International Conference on Robotics & Automation (2003) pp. 1884–1889.Google Scholar
Rothling, F., Haschke, R., Steil, J. J. and Ritter, H., “Platform portable anthropomorphic grasping with the bielefeld 20-DOF shadow and 9-DOF TUM hand,” IEEE/RSJ International Conference on Intelligent Robots & Systems (2007) pp. 2951–2956.Google Scholar
Tuffield, P. and Elias, H., “The Shadow robot mimics human actions,” Ind. Robot. 30(1), 56–60 (2013).CrossRefGoogle Scholar
Diftler, M. A., Mehling, J., Abdallah, M. E., Radford, N. A. and Ambrose, Robert O., “Robonaut 2 - The first humanoid robot in space,” IEEE International Conference on Robotics & Automation (2011) pp. 2178–2183.Google Scholar
Bridgwater, L. B., Ihrke, C. A., Diftler, M. A., Abdallah, M. E. and Linn, D. M., “The Robonaut 2 hand - designed to do work with tools,” IEEE International Conference on Robotics & Automation (2012) pp. 3425–3430.Google Scholar
Chen, Z., Lii, N. Y., Jin, M., Fan, S. and Liu, H., “Cartesian impedance control on five-finger dexterous robot hand DLR-HIT II with flexible joint,” International Conference on Intelligent Robotics and Applications (2010) pp. 1–12.Google Scholar
Alessi, A., Zollo, L., Lonini, L., De, F. R. and Guglielmelli, E., “Incremental learning control of the DLR-HIT-Hand II during interaction tasks,” Annual International Conference of the IEEE Engineering in Medicine and Biology Society (2010) pp. 3194–3197.Google Scholar
Alvarez, D., Lumbier, A., Gomez, J. V., Garrido, S. and Moreno, L., “Precision grasp planning with Gifu Hand III based on fast marching square,” IEEE International Conference on Intelligent Robots and Systems (2013) pp. 4549–4554.Google Scholar
Ozawa, R. and Tahara, K., “Grasp and dexterous manipulation of multi-fingered robotic hands: A review from a control view point,” Adv. Rob. 31(19–20), 1030–1050 (2017).CrossRefGoogle Scholar
Tavakoli, M., Enes, B., Santos, J., Marques, L. and Almeida, A. T. D., “Underactuated anthropomorphic hands: Actuation strategies for a better functionality,” Rob. Auton. Syst. 74, 267–282 (2015).CrossRefGoogle Scholar
Odhner, L. U., Jentoft, L. P., Claffee, M. R., Corson, N., Tenzer, Y., Ma, R. R., Buehler, M., Kohout, R., Howe, R. D. and Dollar, A. M., “A compliant, underactuated hand for robust manipulation,” Int. J. Rob. Res. 33(5), 736–752 (2014).CrossRefGoogle Scholar
Flaieh, E. H., Kamil, H. G., Bakhy, S. H. and Jabbar, M. A., “Design and analysis of multi-finger robotic hand,” J. Eng. Sci. Technol. 16(2), 988–1005 (2021).Google Scholar
Pons, J. L., Rocon, E., Ceres, R., Reynaerts, D., Saro, B., Levin, S. and Moorleghem, W. V., “The MANUS-HAND dextrous robotics upper limb prosthesis: Mechanical and manipulation aspects,” Auton. Robot. 16, 143–163 (2004).CrossRefGoogle Scholar
Pons, J. L., Ceres, R. and Rocon, E., “Virtual reality training and EMG control of the MANUS hand prosthesis,” Robotica. 23(3), 311–317 (2005).CrossRefGoogle Scholar
Johannes, G. M. B., Ecaterina, V., Pieter, U. D., Raoul, M. B. and Corry, K. V. D. S., “The Southampton hand assessment procedure revisited: A transparent linear scoring system, applied to data of experienced prosthetic users,” J. Hand Ther. 30(1), 49–57 (2017).Google Scholar
Carrozza, M. C., Suppo, C., Sebastiani, F., Massa, B., Vecchi, F., Lazzarini, R., Cutkosky, M. R. and Dario, P., “The SPRING hand: Development of a self-adaptive prosthesis for restoring natural grasping,” Auton. Robot. 16, 125–141 (2004).CrossRefGoogle Scholar
Hasan, M. R., Vepa, R., Shaheed, H. and Huijberts, H., “Modelling and control of the Barrett hand for grasping,” IEEE International Conference on Computer Modelling Simulation (2013) pp. 230–235.Google Scholar
Dollar, A. M. and Howe, R. D., “The highly adaptive SDM hand: Design and performance evaluation,” Int. J. Rob. Res. 29(5), 585–597 (2010).CrossRefGoogle Scholar
Ma, R. R., Odhner, L. U. and Dollar, A. M., “A modular, open-source 3D printed underactuated hand,” IEEE International Conference on Robotics & Automation (2013) pp. 2737–2743.Google Scholar
Kamakura, N., Matsuo, M., Ishii, H., Mitsuboshi, F. and Miura, Y., “Patterns of static prehension in normal hands,” Am. J. Occup. Ther. 34(7), 437–445 (1980).CrossRefGoogle ScholarPubMed
Long, W., Delpreto, J., Bhattacharyya, S., Weisz, J. and Allen, P. K., “A highly-underactuated robotic hand with force and joint angle sensors,” IEEE/RSJ International Conference on Intelligent Robots & Systems (2011) pp. 1380–1385.Google Scholar
Hirano, D., Nagaoka, K. and Yoshida, K., “Design of underactuated hand for caging-based grasping of free-flying object,” IEEE/SICE International Symposium on System Integration (2013) pp. 436–442.Google Scholar
Li, G., Liu, H., and Zhang, W., “Development of multi-fingered robotic hand with coupled and directly self-adaptive grasp,” Int. J. Humanoid Robot. 9(4), 1250034 (2012).CrossRefGoogle Scholar
Birglen, L. and Gosselin, C. M., “On the force capability of underactuated fingers,” IEEE International Conference on Robotics & Automation (2003) pp. 1139–1145.Google Scholar
Lamb, S. E., Williamson, E. M., Heine, P. J., Adams, J. and Williams, M., “Exercises to improve function of the rheumatoid hand (SARAH): A randomised controlled trial,” Lancet. 385, 421–429 (2015).CrossRefGoogle ScholarPubMed
Pelliccia, L., Schumann, M., Dudczig, M., Lamonaca, M., Klimant, P. and Gironimo, G. D., “Implementation of tactile sensors on a 3-Fingers Robotiq adaptive gripper and visualization in VR using Arduino controller,” Procedia CIRP. 67, 250–255 (2018).CrossRefGoogle Scholar
Ciocarlie, M., Hicks, F. M., Holmberg, R., Hawke, J., Schlicht, M., Gee, J., Stanford, S. and Bahadur, R., “The Velo gripper: A versatile single-actuator design for enveloping, parallel and fingertip grasps,” Int. J. Rob. Res. 33(5), 753–767 (2014).CrossRefGoogle Scholar
Liang, D. and Zhang, W., “PASA-GB Hand: A novel parallel and self-adaptive robot hand with gear-belt mechanisms,” J. Intell. Robot. Syst. 90, 3–17 (2018).CrossRefGoogle Scholar
Li, X. and Zhang, W., “Linearly parallel and self-adaptive robot hand with sliding base compensation for grasping on the surface,” IEEE International Conference on Robotics and Biomimetics (2018) pp. 1822–1827.Google Scholar
Luo, C. and Zhang, W., “VGS hand: A novel hybrid grasping modes robot hand with variable geometrical structure,” Appl. Sci.-Basel. 9(8), 1566 (2019).CrossRefGoogle Scholar
Zheng, E. and Zhang, W., “An underactuated PASA finger capable of perfectly linear motion with compensatory displacement,” J. Mech. Robot. 11(1), 014505 (2019).CrossRefGoogle Scholar
Birglen, L. and Gosselin, C. M., "Kinetostatic analysis of underactuated fingers,” IEEE Trans. Rob. 20(2), 211–221 (2004).CrossRefGoogle Scholar