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Design Innovation Paper

A Prismatic-Revolute-Revolute Joint Hand for Grasping From Unmanned Aerial Vehicles and Other Minimally Constrained Vehicles

[+] Author and Article Information
Spencer B. Backus

School of Engineering and Applied Science,
Yale University,
9 Hillhouse Avenue,
New Haven, CT 06511
e-mail: spencer.backus@yale.edu

Aaron M. Dollar

Mem. ASME
School of Engineering and Applied Science,
Yale University,
P.O. Box 208284,
New Haven, CT 06520
e-mail: aaron.dollar@yale.edu

1Corresponding author.

Manuscript received September 24, 2017; final manuscript received December 14, 2017; published online February 5, 2018. Editor: Venkat Krovi.

J. Mechanisms Robotics 10(2), 025006 (Feb 05, 2018) (8 pages) Paper No: JMR-17-1323; doi: 10.1115/1.4038975 History: Received September 24, 2017; Revised December 14, 2017

Here, we present the design, fabrication, and evaluation of a prismatic-revolute-revolute joint hand called the model B that we developed for grasping from ungrounded vehicles. This hand relies on a prismatic proximal joint followed by revolute distal joints in each finger and is actuated by a single motor- and a tendon-based underactuated transmission. We evaluate this design's grasping capabilities both when fully constrained by a robotic arm and when minimally constrained and evaluate its performance in terms of general grasping capabilities and suitability for aerial grasping applications. The evaluation shows that the model B can securely grasp a wide range of objects using a wrap grasp due to the prismatic-revolute-revolute joint finger kinematics. We also show that the prismatic proximal joints and between finger coupling allows the hand to grasp objects under large positional uncertainty without exerting large reaction forces on the object or host vehicle.

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References

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Figures

Grahic Jump Location
Fig. 1

The model B hand, shown grasping a softball. The prismatic joints allow the finger spacing to adjust to the size of the object, while the revolute joints allow the fingers to wrap about the object.

Grahic Jump Location
Fig. 2

Diagram of the finger kinematics that shows the prismatic and revolute joints of the finger as well as the tendon routing and gear reduction from the servo to the finger

Grahic Jump Location
Fig. 3

Diagram of the finger kinematics that shows the prismatic and revolute joints of the finger as well as the tendon routing and gear reduction from the servo to the finger

Grahic Jump Location
Fig. 4

Object hand reaction force in Newtons when grasping 3 cm diameter cylinder. Subfigure (a) shows the maximum lateral force where positive force is to the right. Subfigure (b) shows the maximum normal force where positive is up, away from the palm of the hand.

Grahic Jump Location
Fig. 5

Object motion when grasping a 4 cm diameter cylindrical object that weighs 220 g. The figure (left) shows motion trajectories that are coded based on if the object is pulled into a wrap grasp (solid gray lines), pinched between the fingertips (solid black lines), or ejected (dashed gray lines). The starting position is plotted with x, while the end position is indicated by a dot. The same trajectories are also overlaid over an image of the hand in the open position (right).

Grahic Jump Location
Fig. 6

Examples of successful (tennis ball and hammer) and unsuccessful (racquet ball and small peg) grasp attempts from the target position

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