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A passively complaint idler mechanism for underactuated dexterous grippers with dynamic tendon routing

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Title: A passively complaint idler mechanism for underactuated dexterous grippers with dynamic tendon routing
Authors: Wang, J
Lu, Q
Clark, A
Rojas, N
Item 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.
Issue Date: 3-Dec-2020
Date of Acceptance: 11-May-2020
URI: http://hdl.handle.net/10044/1/80229
DOI: 10.1007/978-3-030-63486-5_3
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
Conference Name: Towards Autonomous Robotic Systems Conference (TAROS ) 2020
Keywords: Artificial Intelligence & Image Processing
Publication Status: Published
Start Date: 2020-09-16
Finish Date: 2020-09-16
Conference Place: Nottingham, UK
Online Publication Date: 2020-12-03
Appears in Collections:Dyson School of Design Engineering
Faculty of Engineering