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Improved grasp robustness through variable transmission ratios in underactuated fingers | IEEE Conference Publication | IEEE Xplore

Improved grasp robustness through variable transmission ratios in underactuated fingers


Abstract:

This paper investigates the possibility of increasing the robustness of underactuated grasping through the use of variable transmission ratios. We propose a 4-step proced...Show More

Abstract:

This paper investigates the possibility of increasing the robustness of underactuated grasping through the use of variable transmission ratios. We propose a 4-step procedure to investigate and improve the robustness of an underactuated finger on a fixed object. This procedure maximizes the robustness against random force disturbances to the maximum obtainable value under given circumstances. A simulation study is presented that analyzes the disturbance robustness, followed by an experimental study to confirm the effect. The variable transmission ratio is a promising means to increase grasp robustness and has great application potential.
Date of Conference: 07-12 October 2012
Date Added to IEEE Xplore: 20 December 2012
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ISSN Information:

Conference Location: Vilamoura-Algarve, Portugal

I. Introduction

A DAPTIVE underactuation has been utilized extensively. in the design of robotic hands in order to allow for high degree-of- freedom, yet lightweight and compact systems (e.g. [1]–[4]). Benefits of this approach include passive adaptability to a wide range of object size and shape, lower contact forces during object acquisition, mechanical simplicity and durability, and lack of need for complex sensing and control. However, one of the disadvantages to the approach comes during precision grasping, where unconstrained DOFs can cause the mechanisms to reconfigure and potentially lose the grasp. Power grasps, where the hand envelopes the object, are more robust than precision grasps, where the object is grasped between the tips of the fingers. Precision grasps are necessary when objects are small or when objects are approached from above.

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