Indirectly self-adaptive underactuated robot hand with block-linkage mechanisms

详细信息    查看全文

• 作者：Guoxuan Li (1)
  Jian Jin (1)
  Sylvain Deschamps-Berger (3)
  Zhenguo Sun (1)
  Wenzeng Zhang (1) (2)
  Qiang Chen (1)
  
• 关键词：Humanoid robot ; Robot hand ; Underactuated finger ; Self ; adaptive grasping ; Indirect self ; adaptation
• 刊名：International Journal of Precision Engineering and Manufacturing
• 出版年：2014
• 出版时间：August 2014
• 年：2014
• 卷：15
• 期：8
• 页码：1553-1562
• 全文大小：1,207 KB
• 参考文献：1. Kim, E. H., Lee, S. W., and Lee, Y. K., 鈥淎 Dexterous Robot Hand with a Bio-Mimetic Mechanism,鈥?Int. J. Precis. Eng. Manuf., Vol. 12, No. 2, pp. 227鈥?35, 2011. CrossRef
  2. Jacobsen, S., Iversen, E., Knutti, D., Johnson, R., and Biggers, K., 鈥淒esign of the Utah/MIT Dextrous Hand,鈥?Proc. of IEEE International Conference on Robotics and Automation, Vol. 3, pp. 1520鈥?532, 1986.
  3. Diftler, M. A., Mehling, J., Abdallah, M. E., Radford, N. A., Bridgwater, L. B., et al., 鈥淩obonaut 2-the First Humanoid Robot in Space,鈥?Proc. of IEEE International Conference on Robotics and Automation (ICRA), pp. 2178鈥?183, 2011.
  4. Shadow Robot Company, 鈥淪hadow Dexterous Hand C5 Technical Specification,鈥?http://www.shadowrobot.com/downloads/shadow_dextrous_hand_technical_specification_C5.pdf (Accessed 19 JUN 2014)
  5. Kim, E. H., Lee, S. W., and Lee, Y. K., 鈥淎 Dexterous Robot Hand with a Bio-Mimetic Mechanism,鈥?Int. J. Precis. Eng. Manuf., Vol. 12, No. 2, pp. 227鈥?35, 2011. CrossRef
  6. Liu, H., Meusel, P., Hirzinger, G., Jin, M., Liu, Y., and Xie, Z., 鈥淭he Modular Multisensory DLR-HIT-Hand: Hardware and Software Architecture,鈥?IEEE/ASME Transactions on Mechatronics, Vol. 13, No. 4, pp. 461鈥?69, 2008.
  7. Kawasaki, H., Komatsu, T., and Uchiyama, K., 鈥淒exterous Anthropomorphic Robot Hand with Distributed Tactile Sensor: Gifu hand II,鈥?IEEE/ASME Transactions on Mechatronics, Vol. 7, No. 3, pp. 296鈥?03, 2002. CrossRef
  8. Salisbury, J. K. and Craig, J. J., 鈥淎rticulated Hands Force Control and Kinematic Issues,鈥?The International Journal of Robotics Research, Vol. 1, No. 1, pp. 4鈥?7, 1982. CrossRef
  9. Butterfass, J., Hirzinger, G., Knoch, S., and Liu, H., 鈥淒LR's Multisensory Articulated Hand. I. Hard-and Software Architecture,鈥?Proc. of IEEE International Conference on Robotics and Automation, Vol. 3, pp. 2081鈥?086, 1998. CrossRef
  10. Butterfa脽, J., Grebenstein, M., Liu, H., and Hirzinger, G., 鈥淒LRHand II: Next Generation of a Dextrous Robot Hand,鈥?Proc. of IEEE International Conference on Robotics and Automation, Vol. 1, pp. 109鈥?14, 2001.
  11. Yang, D., Zhao, J., Gu, Y., Wang, X., Li, N., et al., 鈥淎n Anthropomorphic Robot Hand Developed based on Underactuated Mechanism and Controlled by EMG Signals,鈥?Journal of Bionic Engineering, Vol. 6, No. 3, pp. 255鈥?63, 2009. CrossRef
  12. Birglen, L. and Gosselin, C. M., 鈥淜inetostatic Analysis of Underactuated Fingers,鈥?IEEE Transactions on Robotics and Automation, Vol. 20, No. 2, pp. 211鈥?21, 2004. CrossRef
  13. Birglen, L. and Gosselin, C. M., 鈥淔uzzy Enhanced Control of an Underactuated Finger using Tactile and Position Sensors,鈥?Proc. of IEEE International Conference on Robotics and Automation, pp. 2320鈥?325, 2005.
  14. Figliolini, G. and Ceccarelli, M., 鈥淎 Novel Articulated Mechanism Mimicking the Motion of Index Fingers,鈥?Robotica, Vol. 20, No. 1, pp. 13鈥?2, 2002. CrossRef
  15. Wu, L. and Ceccarelli, M., 鈥淎 Numerical Simulation for Design and Operation of an Underactuated Finger Mechanism for LARM Hand,鈥?Mechanics Based Design of Structures and Machines, Vol. 37, No. 1, pp. 86鈥?12, 2009. CrossRef
  16. Dollar, A. M. and Howe, R. D., 鈥淭he SDM Hand as a Prosthetic Terminal Device: a Feasibility Study,鈥?Proc. of IEEE 10th International Conference on Rehabilitation Robotics, pp. 978鈥?83, 2007.
  17. Dollar, A. M. and Howe, R. D., 鈥淭owards Grasping in Unstructured Environments: Grasper Compliance and Configuration Optimization,鈥?Advanced Robotics, Vol. 19, No. 5, pp. 523鈥?43, 2005. CrossRef
  18. Dollar, A. M. and Howe, R. D., 鈥淛oint Coupling Design of Underactuated Grippers,鈥?Proc. of ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, pp. 903鈥?11, 2006.
  19. Kragten, G., Meijneke, C., and Herder, J., 鈥淎 Proposal for Benchmark Tests for Underactuated or Compliant Hands,鈥?Mechanical Sciences, Vol. 1, No. 1, pp. 27鈥?2, 2010. CrossRef
  20. Yao, S., Zhan, Q., Ceccarelli, M., Carbone, G., and Lu, Z., 鈥淎nalysis and Grasp Strategy Modeling for Underactuated Multi-Fingered Robot Hand,鈥?Proc. of International Conference on Mechatronics and Automation, pp. 2817鈥?822, 2009.
  21. Wu, L., Carbone, G., and Ceccarelli, M., 鈥淒esigning an Underactuated Mechanism for a 1 Active DOF Finger Operation,鈥?Mechanism and Machine Theory, Vol. 44, No. 2, pp. 336鈥?48, 2009. CrossRef
  22. Wang, L., DelPreto, J., Bhattacharyya, S., Weisz, J., and Allen, P. K., 鈥淎 Highly-Underactuated Robotic Hand with Force and Joint Angle Sensors,鈥?Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1380鈥?385, 2011.
  23. Zhang, W., Chen, Q., Sun, Z., and Zhao, D., 鈥淯nder-Actuated Passive Adaptive Grasp Humanoid Robot Hand with Control of Grasping Force,鈥?Proc. of IEEE International Conference on Robotics and Automation, Vol. 1, pp. 696鈥?01,2003.
  24. Zhang, W., Chen, Q., Sun, Z., and Zhao, D., 鈥淧assive Adaptive Grasp Multi-Fingered Humanoid Robot Hand with High Under-Actuated Function,鈥?Proc. of IEEE International Conference on Robotics and Automation, Vol. 3, pp. 2216鈥?221, 2004.
  25. Zhang, W., Che, D., Liu, H., Ma, X., Chen, Q., et al., 鈥淪uper Under-Actuated Multi-Fingered Mechanical Hand with Modular Self-Adaptive Gear-Rack Mechanism,鈥?Industrial Robot: An International Journal, Vol. 36, No. 3, pp. 255鈥?62, 2009. CrossRef
  26. Che, D. and Zhang, W., 鈥淎 Dexterous and Self-Adaptive Humanoid Robot Hand: Gcua Hand,鈥?International Journal of Humanoid Robotics, Vol. 8, No. 1, pp. 73鈥?6, 2011. CrossRef
  27. Che, D. and Zhang, W., 鈥淕CUA Humanoid Robotic Hand with Tendon Mechanisms and its Upper Limb,鈥?International Journal of Social Robotics, Vol. 3, No. 4, pp. 395鈥?04, 2011. CrossRef
  28. Sun, J. and Zhang, W., 鈥淎 Novel Coupled and Self-Adaptive Under-Actuated Multi-Fingered Hand with Gear-Rack-Slider Mechanism,鈥?Journal of Manufacturing Systems, Vol. 31, No. 1, pp. 42鈥?9, 2012. CrossRef
  
• 作者单位：Guoxuan Li (1)
  Jian Jin (1)
  Sylvain Deschamps-Berger (3)
  Zhenguo Sun (1)
  Wenzeng Zhang (1) (2)
  Qiang Chen (1)
  
  1. Key Laboratory for Advanced Materials Processing Technology(Ministry of Education),Dept. of Mechanical Engineering, Tsinghua University, Beijing, 100084, China
  3. Department of Mechanical Engineering and Development, INSA de Lyon, Villeurbanne, 69621, France
  2. Department of Mechanical Engineering, Northwestern University, Evanston, IL, 60208, USA
  
• ISSN：2005-4602

文摘

A novel indirectly self-adaptive (ISA) underactuated hand with block-linkage mechanism is developed in this paper. There are two basic requirements for design of a humanoid robot hand. Firstly, regarding the function of the hand, the hand should be able to stably grasp common objects with different shapes and sizes. Secondly, regarding the structure of the hand, the hand should be similar to a human hand in its appearance and joint degrees of freedom (DOFs). The ISA Hand reaches the balance point in meeting both of requirements. The ISA Hand has 5 fingers, 14 joint DOFs and only 5 motors. There are nine ISA joints in the ISA Hand. All fingers are similar in structure. The thumb has two joints, one in which is the ISA joint. Four fingers in the ISA hand have three joints, two in which are the ISA joint. The reacting force from objects in grasping process can be used to drive the ISA joint. The architecture, grasping process and force analysis of the ISA finger are given in detail. Experimental results show that the ISA Hand can grasp different objects stably.