Grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers
In this work, we focus on building the model of optimization design of the fingertip to evaluate the best fingertip shape and determining the size range of objects grasped by fingertips steadily. We describe the effect of fingertip dimension on the stability of fingertip grasp, while other existing...
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2020
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/139238 |
| _version_ | 1826124644869996544 |
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| author | Dong, Huixu Ehsan Asadi Qiu, Chen Dai, Jiansheng Chen, I-Ming |
| author2 | Robotics Research Centre |
| author_facet | Robotics Research Centre Dong, Huixu Ehsan Asadi Qiu, Chen Dai, Jiansheng Chen, I-Ming |
| author_sort | Dong, Huixu |
| collection | NTU |
| description | In this work, we focus on building the model of optimization design of the fingertip to evaluate the best fingertip shape and determining the size range of objects grasped by fingertips steadily. We describe the effect of fingertip dimension on the stability of fingertip grasp, while other existing works mostly paid close attention to stability analysis for existing fingertip designs or prototypes. First, we elaborate on a versatile force-form analysis approach to quantifying the grasp stability by constructing a series of mathematical models under rolling constraints. Second, the best performing fingertip shape is indicated for realizing stable fingertip grasps. Next, the relations between the dimension of the fingertip, the size of objects, and the posture of the fingertip relative to a stable contact point are expressed by mathematical formulations in geometric constraints. Finally, an under-actuated gripper with two 3-link fingers is designed and performs practical experiments to demonstrate for verifying the presented analysis and models. |
| first_indexed | 2024-10-01T06:24:05Z |
| format | Journal Article |
| id | ntu-10356/139238 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T06:24:05Z |
| publishDate | 2020 |
| record_format | dspace |
| spelling | ntu-10356/1392382020-05-18T06:23:29Z Grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers Dong, Huixu Ehsan Asadi Qiu, Chen Dai, Jiansheng Chen, I-Ming Robotics Research Centre Engineering::Mechanical engineering Fingertip Grasp Fingertip Design In this work, we focus on building the model of optimization design of the fingertip to evaluate the best fingertip shape and determining the size range of objects grasped by fingertips steadily. We describe the effect of fingertip dimension on the stability of fingertip grasp, while other existing works mostly paid close attention to stability analysis for existing fingertip designs or prototypes. First, we elaborate on a versatile force-form analysis approach to quantifying the grasp stability by constructing a series of mathematical models under rolling constraints. Second, the best performing fingertip shape is indicated for realizing stable fingertip grasps. Next, the relations between the dimension of the fingertip, the size of objects, and the posture of the fingertip relative to a stable contact point are expressed by mathematical formulations in geometric constraints. Finally, an under-actuated gripper with two 3-link fingers is designed and performs practical experiments to demonstrate for verifying the presented analysis and models. 2020-05-18T06:23:29Z 2020-05-18T06:23:29Z 2018 Journal Article Dong, H., Ehsan Asadi, Qiu, C., Dai, J., & Chen, I.-M. (2018). Grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers. Mechanism and Machine Theory, 130, 447-462. doi:10.1016/j.mechmachtheory.2018.08.028 0094-114X https://hdl.handle.net/10356/139238 10.1016/j.mechmachtheory.2018.08.028 2-s2.0-85053307562 130 447 462 en Mechanism and Machine Theory © 2018 Elsevier Ltd. All rights reserved. |
| spellingShingle | Engineering::Mechanical engineering Fingertip Grasp Fingertip Design Dong, Huixu Ehsan Asadi Qiu, Chen Dai, Jiansheng Chen, I-Ming Grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers |
| title | Grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers |
| title_full | Grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers |
| title_fullStr | Grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers |
| title_full_unstemmed | Grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers |
| title_short | Grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers |
| title_sort | grasp analysis and optimal design of robotic fingertip for two tendon driven fingers |
| topic | Engineering::Mechanical engineering Fingertip Grasp Fingertip Design |
| url | https://hdl.handle.net/10356/139238 |
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