A passively compliant idler mechanism for underactuated dexterous grippers with dynamic tendon routing
File(s)
Accepted version
Author(s)
Wang, Jinhong
Lu, Qiujie
Clark, Angus
Rojas, Nicolas
Type
Conference Paper
Abstract
In the field of robotic hands, tendon actuation is one of the most common ways to control self-adaptive underactuated fingers thanks to its compact size. Either differential or direct drive mechanisms are usually used in these systems to perform synchronised grasping using a single actuator. However, synchronisation problems arise in underactuated grippers whose position of proximal joints varies with time to perform manipulation operations, as this results in a tendon-driven system with dynamic anchor pulleys. This paper introduces a novel passively compliant idler mechanism to avoid unsynchronisation in grippers with a dynamic multi-tendon routing system, such that adequate grasping contact forces are kept under changes in the proximal joints’ positions. A re-configurable palm underactuated dexterous gripper is used as a case study, with the performance of the proposed compliant idler system being evaluated and compared through a contact force analysis during rotation and translation in-hand manipulation tasks. Experiment results clearly demonstrate the ability of the mechanism to synchronise a dynamic tendon routing gripper. A video summarising experiments and findings can be found at https://imperialcollegelondon.box.com/s/hk58688q2hjnu8dhw7uskr7vi9tqr9r5.
Date Issued
2020-12-03
Date Acceptance
2020-05-11
Citation
Lecture Notes in Computer Science, 2020, 12228, pp.25-36
ISSN
0302-9743
Publisher
Springer Verlag
Start Page
25
End Page
36
Journal / Book Title
Lecture Notes in Computer Science
Volume
12228
Copyright Statement
© 2020 Springer Nature Switzerland AG. The final publication is available at Springer via https://doi.org/10.1007/978-3-030-63486-5_3
Source
Towards Autonomous Robotic Systems Conference (TAROS ) 2020
Subjects
Artificial Intelligence & Image Processing
Publication Status
Published
Start Date
2020-09-16
Finish Date
2020-09-16
Coverage Spatial
Nottingham, UK
Date Publish Online
2020-12-03