In this paper, a novel technique to prescribe and control the closing motion of a linkage-driven underactuated finger is presented. Since an underactuated, a.k.a self-adaptive, finger generally only has one actuator for a given number of degrees of freedom, its closing motion before making contact with an object is typically imposed by its mechanical design and cannot be changed once the finger is built. In the literature, several closing motions for underactuated fingers have been proposed each one having its own merits and in each case, associated to a particular mechanical layout. In this work, the authors propose a novel design of a partially compliant underactuated finger based on a dual drive actuation system where two motors, which can be used independently or in combination, move the finger. Each of these motors prescribes a different closing motion which has been selected amongst the most commonly found in the literature. In order to characterize the behavior and performances of this finger, a kinetostatic analysis is carried on and a lumped compliance model is developed. The geometry of the finger is then optimized using a genetic algorithm in order to achieve the desired kinematic motions.
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ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 2–5, 2015
Boston, Massachusetts, USA
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-5713-7
PROCEEDINGS PAPER
Underactuated Finger Closing Motion Control Using Dual Drive Actuation
Jean-Michel Boucher,
Jean-Michel Boucher
Polytechnique Montreal, Montreal, QC, Canada
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Lionel Birglen
Lionel Birglen
Polytechnique Montreal, Montreal, QC, Canada
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Jean-Michel Boucher
Polytechnique Montreal, Montreal, QC, Canada
Lionel Birglen
Polytechnique Montreal, Montreal, QC, Canada
Paper No:
DETC2015-46626, V05BT08A005; 10 pages
Published Online:
January 19, 2016
Citation
Boucher, J, & Birglen, L. "Underactuated Finger Closing Motion Control Using Dual Drive Actuation." Proceedings of the ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 5B: 39th Mechanisms and Robotics Conference. Boston, Massachusetts, USA. August 2–5, 2015. V05BT08A005. ASME. https://doi.org/10.1115/DETC2015-46626
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