Varying spring preloads to select grasp strategies in an adaptive hand

Daniel Aukes, Barrett Heyneman, Vincent Duchaine, Mark R. Cutkosky

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

20 Scopus citations

Abstract

We describe an underactuated hand mechanism that is able to adopt a wide range of grasp types by varying the internal forces in its fingers. The adjustment is accomplished by varying the preloads of springs, which affect the grasp stability and stiffness for large and small objects. Preload adjustment can be accomplished with low power, non-backdrivable actuators in the fingers. The analysis is presented first for a planar, two-fingered hand to illustrate the trends and tradeoffs associated with variations in preload. The results are then applied numerically to a three fingered hand with three phalanges per finger. This design is a prototype for a hand to be used in an underwater oil drilling platform under conditions of low friction and uncertain object locations.

Original languageEnglish (US)
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages1373-1379
Number of pages7
DOIs
StatePublished - Dec 29 2011
Externally publishedYes
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: Sep 25 2011Sep 30 2011

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period9/25/119/30/11

Keywords

  • kinematic design
  • parallel linkage
  • robotic hand
  • underactuation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Aukes, D., Heyneman, B., Duchaine, V., & Cutkosky, M. R. (2011). Varying spring preloads to select grasp strategies in an adaptive hand. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 1373-1379). [6048839] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2011.6048839