Research Papers

Dimensional Synthesis of Wristed Binary Hands

[+] Author and Article Information
Neda Hassanzadeh

Department of Mechanical Engineering,
Idaho State University,
921 S 8th Avenue,
Pocatello, ID 83209
e-mail: hassneda@isu.edu

Alba Perez-Gracia

Associate Professor
Department of Mechanical Engineering,
Idaho State University,
921 S 8th Avenue, Pocatello, ID 83209
e-mail: perealba@isu.edu

Manuscript received January 17, 2015; final manuscript received August 8, 2015; published online November 24, 2015. Assoc. Editor: Yuefa Fang.

J. Mechanisms Robotics 8(2), 021006 (Nov 24, 2015) (8 pages) Paper No: JMR-15-1011; doi: 10.1115/1.4031339 History: Received January 17, 2015; Revised August 08, 2015; Accepted August 16, 2015

The kinematic synthesis applied to tree topologies is a tool for the design of multifingered robotic hands, for a simultaneous task of all fingertips. Even though traditionally wrists and hands have been designed separately, the wrist usually being part of the robot manipulator arm, it makes sense to consider the wrist as a part of the hand, as many grasping and manipulation actions are a coordinated action of wrist and fingers. The manipulation capabilities of robotic hands may also be enhanced by considering more than one splitting stage, as opposed to the single-palm traditional hand. In this work, we present the dimensional synthesis for a family of multifingered hands, the binary hands, which have a 2R wrist and several splitting stages, each of them spanning two branches consisting of a revolute joint for each edge. For these topologies, it is proved that a three-position task can be defined for each fingertip, regardless of the number of fingers. One example is presented to show the possible design strategies and uses for this family of hands.

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Fig. 1

Barrett® Hand, wristed human hand, and their tree representations. Vertices are labeled as V, edges as E, and R denotes revolute joints.

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Fig. 2

A tree topology with two splitting stages: (a) edge labeling and (b) number of joints in each edge.

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Fig. 3

Graphs for some wristed fractal hands: binary and ternary

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Fig. 4

For a tree with depth s + 1, the number of splitting stages is s, as there is no splitting at the wrist

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Fig. 5

Graphs for binary trees with one, two, three, and four splitting stages

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Fig. 6

An example of a two-stage binary hand

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Fig. 7

A binary tree pruned at depth 2 and depth 3, with a total of four end-effectors

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Fig. 8

Graph of the 2-(1,1) hand

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Fig. 9

Kinematic sketch of the 2-(1,1) hand

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Fig. 10

Graph of the 2-(1-(1,1),1-(1,1)) hand

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Fig. 11

Kinematic sketch of the 2-(1-(1,1),1-(1,1)) hand

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Fig. 12

Fingertip design and motion with respect to frame 1

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Fig. 13

Final hand design with fingertips reaching task positions 1, 2, and 3. The task positions are indicated with reference frames.




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