TY - GEN
T1 - Simulation-based tools for evaluating underactuated hand designs
AU - Aukes, Daniel M.
AU - Cutkosky, Mark R.
PY - 2013/11/14
Y1 - 2013/11/14
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84887264489&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2013.6630854
DO - 10.1109/ICRA.2013.6630854
M3 - Conference contribution
AN - SCOPUS:84887264489
SN - 9781467356411
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2067
EP - 2073
BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Y2 - 6 May 2013 through 10 May 2013
ER -