Underactuated Gripper That Is Able to Convert from Precision to Power Grasp by a Variable Transmission Ratio

摘要：

This paper investigates the possibility of converting grasped objects from precision grasps to power grasps using a variable transmission ratio for an underactuated finger. Reconfiguration happens when the precision grasp converts to a power grasp, because the number of contact points changes which changes the topology of the grasp. To this effect, a variable radius pulley was designed. A simulation study is presented to analyse grasping behaviour and a potential energy method is used to predict the equilibrium positions of finger and object. With this method stable and unstable equilibrium positions are determined. This is followed by an experiment to verify the theory. This paper is a first step in dextrous manipulation with large movements of objects using underactuated fingers.

关键词： Underactuated Convert Precision grasp Power grasp Variable transmission ratio

作者: Stefan A. J. Spanjer Ravi Balasubramanian Aaron M. Dollar Just L. Herder

作者单位: Laboratory of Mechanical Automation and Mechatronics, Faculty of Engineering Technology, University School of Mechanical, Industrial & Manufacturing Engineering, Oregon State University,Corvallis, OR, Department of Mechanical Engineering and Materials Science, School of Engineering and Applied Scienc

会议类型: 国际会议

会议名称: The Second ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robote 第二届ASME/IFTOMM可重构机构与可重构机器人国际大会 ReMAR 2012

会议地点: 天津

会议语种:英文

页码: 669-679

在线出版日期: 2012-07-08（万方平台首次上网日期，不代表论文的发表时间）