Simulation-based tools for evaluating underactuated hand designs

Daniel M. Aukes, Mark R. Cutkosky

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Scopus citations

Abstract

This paper presents a tool aimed at the design of compliant, under-actuated hands. The particular motivation is hands that will be used for an underwater robot to grasp a variety of objects, some of which may be delicate or slippery. The focus of the analysis is the problem of object acquisition. In comparison to many prior grasp analysis tools, the tool presented here models the dynamics of a hand, including actuation mechanisms, compliance and friction in an efficient formulation that permits one to evaluate variations in such quantities as phalange length, finger spacing, transmission ratios, and torsional joint stiffness when comparing hand designs. The analysis is demonstrated for a quasi-static object acquisition problem and leads to the computation of a vector space of three dimensional regions for which the hand will tend to center and stably grasp a compact object.

Original languageEnglish (US)
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages2067-2073
Number of pages7
DOIs
StatePublished - Nov 14 2013
Externally publishedYes
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: May 6 2013May 10 2013

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period5/6/135/10/13

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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