Underactuated Robotic Hands

By: Lionel Birglen, Thierry LalibertÃ©, ClÃ©ment M. Gosselin

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Hardcover | 1 March 2008

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Hardcover
264 Pages

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23.5 x 15.88 x 1.91

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Grasping and manipulation skills are at the core of the development of modern robotic systems. With the introduction of robotics in new applications involving unstructured environments (e.g. space, undersea, surgery), intelligent manipulation and grasping has become a crucial research area. The authors have developed an internationally recognized expertise in this area. Additionally, they designed and built several prototypes which attracted the attention of the scientific community. Their work was reported in several publications which appeared in the most renowned journals and conferences.

The purpose of this book is to summarize years of research and to present, in an attractive format, the expertise developed by the authors on a new technology for grasping--namely under actuation--which has achieved great success both in theory and in practice. This book is not intended to be used as a textbook but could be used as a reference at the post-graduate level.

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Non-Fiction Engineering & Technology Electronics & Communications Engineering Electronics Engineering Automatic Control Engineering Robotics Computing & I.T.Computer Science Artificial Intelligence Energy Technology & Engineering Electrical Engineering Reference, Information & Interdisciplinary Subjects

Research & Information Information theory Cybernetics & Systems Theory

Introduction	p. 1
Underactuation	p. 1
Contributions of the Book	p. 2
Overview of the Book	p. 4
Grasping vs. Manipulating	p. 7
Robotic Hands: Aims and Functions	p. 7
Underactuation in Robotic Hands	p. 13
Underactuation as a Solution to Grasping	p. 13
Literature Review	p. 17
Kinetostatic Analysis of Robotic Fingers	p. 33
Introduction	p. 33
General Static Model	p. 34
Computation of the Transmission Matrix	p. 41
Expressions of the Contact Forces	p. 43
Positive Definiteness of the Forces	p. 44
Other Transmission Mechanisms	p. 50
Double-Stage Mechanism	p. 50
Tendon-Pulley Transmission	p. 51
Gears	p. 54
Da Vinci's Mechanism	p. 55
Comparison	p. 58
Less-than-n-phalanx Grasps	p. 59
Conclusions	p. 59
Grasp Stability of Underactuated Fingers	p. 61
Introduction	p. 61
Grasp Stability of Two-Phalanx Underactuated Fingers	p. 63
Grasp Stability for Single Point Contact	p. 63
Contact Trajectories	p. 70
Equation of the Equilibrium Point	p. 77
Linear and Circular Contact	p. 82
Application: Synthesis of an Optimally Unstable Finger	p. 89
Application: Design Validation	p. 95
On the Grasp-State Plane Necessity	p. 96
Grasp Stability of Three-Phalanx Underactuated Fingers	p. 98
Three-Phalanx Underactuated Fingers Ejection Theory	p. 98
Loss of One Contact	p. 102
Degeneracy Analysis	p. 108
On the Validation Surfaces	p. 112
Loss of Two Contacts	p. 113
Conclusions	p. 114
Optimal Design of Underactuated Fingers	p. 117
Introduction	p. 117
Optimal Design of Two-Phalanx Underactuated Fingers	p. 118
Force Properties and Ejection	p. 118
Force Isotropic Design	p. 121
Guidelines to Prevent Ejection	p. 125
Optimal Design of Three-Phalanx Underactuated Fingers	p. 130
Force Properties and Ejection	p. 130
Dimensional Analysis	p. 132
Grasp-Stability Analysis	p. 136
Conclusions	p. 137
Underactuation between the Fingers	p. 139
Introduction	p. 139
Design Solutions	p. 140
Movable Pulley	p. 140
Seesaw Mechanism	p. 143
Fluidic T-Pipe	p. 144
Planetary and Bevel Gear Differentials	p. 146
Combining Multiple Stages	p. 148
Transmission Tree Analysis	p. 148
Performance Evaluation of the Transmission Tree	p. 154
Exchanging Inputs and Outputs	p. 155
Applications	p. 156
Underactuated Gripper	p. 156
Multiple Pulley Routing	p. 160
Serial Routing	p. 162
Symmetrical Routing	p. 164
Other Transmission Solutions	p. 165
The Floating Platform	p. 165
The Spring-Loaded Slider	p. 166
Conclusions	p. 168
Design and Control of the Laval Underactuated Hands	p. 171
Introduction	p. 171
Design of Laval Underactuated Hands	p. 172
Location and Orientation of the Fingers	p. 172
Pinch Grasp Mechanism	p. 175
The MARS Hand	p. 177
The SARAH Hands	p. 178
Control and Experimentation of the Laval Underactuated Hands	p. 190
Hybrid Control of the MARS Hand	p. 190
Force Control of the MARS Hand	p. 194
Control of the SARAH hands	p. 206
Conclusions	p. 207
Conclusion	p. 209
Summary and Contributions of the Book	p. 209
Perspectives	p. 211
Mathematical Proofs	p. 215
Influence of the Base Joint Spring	p. 215
Influence of k[subscript 1]	p. 216
Relationship between Proximal and Intermediate Forces	p. 218
Transmission Tree Formulae	p. 218
Serial Transmission Tree	p. 218
Symmetrical Transmission Tree	p. 221
References	p. 227
Index	p. 237
Table of Contents provided by Ingram. All Rights Reserved.

Underactuated Robotic Hands

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Hardcover

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