0
Research Papers

Classification and Kinematic Equivalents of Contact Types for Fingertip-Based Robot Hand Manipulation

[+] Author and Article Information
Nicolas Rojas

Department of Engineering and Design,
University of Sussex,
Brighton, BN1 9QT, UK
e-mail: n.rojas@sussex.ac.uk

Aaron M. Dollar

Department of Mechanical Engineering and
Materials Science,
Yale University,
New Haven, CT 06511
e-mail: aaron.dollar@yale.edu

1Corresponding author.

2The point contact without friction, as originally proposed by Salisbury, actually assumes a curvature model of the grasped object (see Table 1).

3Soft finger is the historical name used for the contact model that idealizes a point contact that deforms to have a contact area large enough to resist moments about the contact normal.

Manuscript received October 23, 2015; final manuscript received February 3, 2016; published online March 28, 2016. Assoc. Editor: Jun Ueda.

J. Mechanisms Robotics 8(4), 041014 (Mar 28, 2016) (9 pages) Paper No: JMR-15-1307; doi: 10.1115/1.4032865 History: Received October 23, 2015; Revised February 03, 2016

In the context of robot manipulation, Salisbury's taxonomy is the common standard used to define the types of contact interactions that can occur between the robot and a contacted object; the basic concept behind such classification is the modeling of contacts as kinematic pairs. In this paper, we extend this notion by modeling the effects of a robot contacting a body as kinematic chains. The introduced kinematic-chain-based contact model is based on an extension of the Bruyninckx–Hunt approach of surface–surface contact. A general classification of nonfrictional and frictional contact types suitable for both manipulation analyses and robot hand design is then proposed, showing that all standard contact categories used in robotic manipulation are special cases of the suggested generalization. New contact models, such as ball, tubular, planar translation, and frictional adaptive finger contacts, are defined and characterized. An example of manipulation analysis that lays out the relevance and practicality of the proposed classification is detailed.

FIGURES IN THIS ARTICLE
<>
Copyright © 2016 by ASME
Topics: Kinematics , Friction
Your Session has timed out. Please sign back in to continue.

References

Mason, M. T. , 2001, Mechanics of Robotic Manipulation, MIT Press, Cambridge, MA.
Konyukhov, A. , and Schweizerhof, K. , 2012, Computational Contact Mechanics: Geometrically Exact Theory for Arbitrary Shaped Bodies, Vol. 67, Springer Science & Business Media, Berlin.
Hervé, J. M. , 1999, “ The Lie Group of Rigid Body Displacements, a Fundamental Tool for Mechanism Design,” Mech. Mach. Theory, 34(5), pp. 719–730. [CrossRef]
Salisbury, J. K. , 1982, “ Kinematic and Force Analysis of Articulated Hands,” Ph.D. thesis, Department of Mechanical Engineering, Stanford University, Stanford, CA.
Tischler, C. R. , Samuel, A. E. , and Hunt, K. H. , 1995, “ Kinematic Chains for Robot Hands—II. Kinematic Constraints, Classification, Connectivity, and Actuation,” Mech. Mach. Theory, 30(8), pp. 1217–1239. [CrossRef]
Murray, R. M. , Li, Z. , and Sastry, S. S. , 1994, A Mathematical Introduction to Robotic Manipulation, CRC Press, Boca Raton, FL.
Siciliano, B. , and Khatib, O. , 2008, Springer Handbook of Robotics, Springer Science & Business Media, Berlin.
Salisbury, J. K. , and Roth, B. , 1983, “ Kinematic and Force Analysis of Articulated Mechanical Hands,” ASME J. Mech. Des., 105(1), pp. 35–41.
Montana, D. J. , 1995, “ The Kinematics of Multi-Fingered Manipulation,” IEEE Trans. Rob. Autom., 11(4), pp. 491–503. [CrossRef]
Hunt, K. H. , 1978, Kinematic Geometry of Mechanisms, Oxford University Press, New York.
Bruyninckx, H. , Demey, S. , Dutré, S. , and De Schutter, J. , 1995, “ Kinematic Models for Model-Based Compliant Motion in the Presence of Uncertainty,” Int. J. Rob. Res., 14(5), pp. 465–482. [CrossRef]
Hervé, J. M. , 1978, “ Analyse structurelle des mécanismes par groupe des déplacements,” Mech. Mach. Theory, 13(4), pp. 437–450. [CrossRef]
Hervé, J. M. , 2004, “ Note About the 3-UPU Wrist,” Mech. Mach. Theory, 39(8), pp. 901–904. [CrossRef]
Qinchuan, L. , Zhen, H. , and Herve, J. M. , 2004, “ Type Synthesis of 3R2T 5-DOF Parallel Mechanisms Using the Lie Group of Displacements,” IEEE Trans. Rob. Autom., 20(2), pp. 173–180. [CrossRef]
Fanghella, P. , and Galletti, C. , 1989, “ Particular or General Methods in Robot Kinematics?: Both Particular and General,” Mech. Mach. Theory, 24(5), pp. 383–394. [CrossRef]
Ramakrishna, K. , and Sen, D. , 2015, “ Transitory Second-Order Reciprocal Connection for Two Surfaces in Point Contact,” Mech. Mach. Theory, 86, April, pp. 73–87. [CrossRef]
Cutkosky, M. R. , 1985, Robotic Grasping and Fine Manipulation, Kluwer Academic Publishers, Hingham, MA.
Montana, D. J. , 1988, “ The Kinematics of Contact and Grasp,” Int. J. Rob. Res., 7(3), pp. 17–32. [CrossRef]
Sankar, N. , Kumar, V. , and Yun, X. , 1996, “ Velocity and Acceleration Analysis of Contact Between Three-Dimensional Rigid Bodies,” ASME J. Appl. Mech., 63(4), pp. 974–984. [CrossRef]
Rojas, N. , and Dollar, A. M. , 2016, “ Gross Motion Analysis of Fingertip-Based Within-Hand Manipulation,” IEEE Trans. Rob. (accepted).
Mason, M. T. , Rodriguez, A. , Srinivasa, S. S. , and Vazquez, A. S. , 2012, “ Autonomous Manipulation With a General-Purpose Simple Hand,” Int. J. Rob. Res., 31(5), pp. 688–703. [CrossRef]

Figures

Grahic Jump Location
Fig. 1

Left: Hunt's kinematic-chain-based model of point contact without friction and its kinematic equivalent. Right: the Bruyninckx's kinematic-chain-based model of point contact without friction—called herein the Bruyninckx–Hunt model—and its kinematic equivalent.

Grahic Jump Location
Fig. 2

A resistant passive revolute joint (right) is able to resist moments till some value η before entering in motion. In a passive revolute joint (left) η=0. Then, by assuming that any moment induced on the resistant passive revolute joint is not greater than η, the joint can be considered as locked.

Grahic Jump Location
Fig. 3

A 3F-3R robot hand grasping a special object (s-shaped body) with the notation used for its fingertip-based within-hand manipulation analysis using different contact models, namely: point contact with friction, soft finger, ball contact, and frictional adaptive finger (see Table 3)

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In