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Design Innovation Paper

A PRISMATIC-REVOLUTE-REVOLUTE JOINT HAND FOR GRASPING FROM UAVS AND OTHER MINIMALLY CONSTRAINED VEHICLES

[+] Author and Article Information
Spencer Backus

Yale University School of Engineering and Applied Science, 9 Hillhouse Ave., New Haven, CT 06511
spencer.backus@yale.edu

Aaron M. Dollar

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

1Corresponding author.

ASME doi:10.1115/1.4038975 History: Received September 24, 2017; Revised December 14, 2017

Abstract

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.

Copyright (c) 2018 by ASME
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