A Tendon-driven Robot Gripper with Passively Switchable Underactuated Surface and its Physics Simulation Based Parameter Optimization

08/13/2020
by   Tianyi Ko, et al.
0

In this paper, we propose a single-actuator gripper that can lift thin objects lying on a flat surface, in addition to the ability as a standard parallel gripper. The key is a crawler on the fingertip, which is underactuated together with other finger joints and switched with a passive and spring-loaded mechanism. While the idea of crawling finger is not a new one, this paper contributes to realize the crawling without additional motor. The gripper can passively change the mode from the parallel approach mode to the pull-in mode, then finally to the power grasp mode, according to the grasping state. To optimize the highly underactuated system, we take a combination of black-box optimization and physics simulation of the whole grasp process. We show that this simulation-based approach can effectively consider the precontact motion, in-hand manipulation, power grasp stability, and even failure mode, which is difficult for the static-equilibrium-analysis-based approaches. In the last part of the paper, we demonstrate that a prototype gripper with the proposed structure and design parameters optimized under the proposed process successfully power-grasped a thin sheet, a softcover book, and a cylinder lying on a flat surface.

READ FULL TEXT

page 1

page 2

page 3

page 4

page 5

page 6

page 7

page 8

research
06/18/2021

Variable-Grasping-Mode Gripper With Different Finger Structures For Grasping Small-Sized Items

This letter presents a novel small gripper capable of grasping various t...
research
11/18/2020

ACRONYM: A Large-Scale Grasp Dataset Based on Simulation

We introduce ACRONYM, a dataset for robot grasp planning based on physic...
research
11/09/2022

Single-Fingered Reconfigurable Robotic Gripper With a Folding Mechanism for Narrow Working Spaces

This letter proposes a novel single-fingered reconfigurable robotic grip...
research
12/22/2020

Emergent Hand Morphology and Control from Optimizing Robust Grasps of Diverse Objects

Evolution in nature illustrates that the creatures' biological structure...
research
11/22/2021

Tenodesis Grasp Emulator: Kinematic Assessment of Wrist-Driven Orthotic Control

Wrist-driven orthotics have been designed to assist people with C6-7 spi...
research
12/11/2019

A Billion Ways to Grasp: An Evaluation of Grasp Sampling Schemes on a Dense, Physics-based Grasp Data Set

Robot grasping is often formulated as a learning problem. With the incre...
research
01/19/2018

Passive Reaction Analysis for Grasp Stability

In this paper we focus on the following problem in multi-fingered roboti...

Please sign up or login with your details

Forgot password? Click here to reset