Research Papers

Type Synthesis of Linkage-Driven Self-Adaptive Fingers

[+] Author and Article Information
Lionel Birglen

Department of Mechanical Engineering, Ecole Polytechnique of Montreal, Montreal, QC, H3T 1J4, Canadalionel.birglen@polymtl.ca

J. Mechanisms Robotics 1(2), 021010 (Jan 12, 2009) (9 pages) doi:10.1115/1.3046139 History: Received December 17, 2007; Revised October 23, 2008; Published January 12, 2009

This paper aims at providing a method to synthesize mechanical architectures of self-adaptive robotic fingers driven by linkages. Self-adaptive mechanisms are used in robotic fingers to provide the latter with the ability to adjust themselves to the shape of the object seized without any dedicated electronics, sensor, or control. This type of mechanisms has been known for centuries but the increased capabilities of digital systems have kept them in the shadows. Recently, because of the lack of commercial and industrial success of complex robotic hands, self-adaptive mechanisms have attracted much more interest from the research community and several prototypes have been built. Nevertheless, only a handful of prototypes are currently known. It is the aim of this paper to present a methodology that is able to generate thousands of self-adaptive robotic fingers driven by linkages with two and three phalanges. First, potential kinematic architectures are synthesized using a well-known technique. Second, the issue of proper actuation and passive element(s) selection and location is addressed.

Copyright © 2009 by American Society of Mechanical Engineers
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Figure 1

Closing sequence of a 2DOF self-adaptive finger

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Figure 2

2DOF closed-loop mechanisms with revolute joints

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Figure 3

Architectures of two-phalanx fingers with only revolute joints

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Figure 4

Candidates of the class S of two-phalanx fingers

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Figure 5

Architectures of three-phalanx fingers with only revolute joints

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Figure 6

Distribution of the actuation torque in two- and three-phalanx fingers

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Figure 7

Actuation selection for architectures A234 and B4518

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Figure 8

Two- and three-phalanx finger architectures with a quaternary link

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Figure 9

Single joint passive elements

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Figure 10

Torque nomenclature of the candidate two-phalanx fingers

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Figure 11

Parameters of architecture A2345




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