Underactuated Grasp Acquisition and Stability Using Friction Based Coupling Mechanisms

摘要：

Underactuated fingers have been extensively studied and optimized in order to achieve better grasp performance in terms of object acquisition and stability. However, little work has been done related to the coupling mechanisms between the fingers and their effects on grasp performance. This paper presents a novel method of underactuated finger coupling that utilizes friction and allows for increased stability and adaptability of robotic grippers. We show that variable friction within the coupling element can help the system maintain kinematic form closure while not affecting non-closure forces during grasp acquisition. A proof of concept prototype demonstrates the increased stability of objects within the grasp as compared to traditional coupling mechanisms.

作者: Joseph T. Belter Aaron M. Dollar

作者单位: Department of Mechanical Engineering and Materials Science,School of Engineering and Applied Science,Yale University,New Haven,CT USA

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 3035-3040

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）