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ICARCV
2006
IEEE

On the Form-Closure Capability of Robotic Underactuated Hands

10 years 7 months ago
On the Form-Closure Capability of Robotic Underactuated Hands
—This paper presents a new method to study the capability of an underactuated hand to produce form-closed grasps. First, the stability behaviours of different underactuated parallel-jaw grippers are analyzed and compared according to their actuation and transmission mechanisms. Then, both notions of 1st order and 2nd order form-closure are revisited for underactuated hands, since in this particular case the assumption of fixed contacts made in the original definition is false. Therefore, constraints imposed by non-backdrivable mechanisms are introduced into the model of the whole grasp. Finally, a simple geometrical condition, necessary and sufficient for 1st order form-closure is proposed. This permits to conclude on the minimum number of non-backdrivable mechanisms required to produce 1st order form-closed grasps using an underactuated hand. Keywords—robotic hand, underactuation, form-closure, nonbackdrivability.
Vincent Begoc, Claude Durand, Sébastien Kru
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where ICARCV
Authors Vincent Begoc, Claude Durand, Sébastien Krut, Etienne Dombre, François Pierrot
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