Advertisement

Kinematic Analysis, Prototypation and Control of a Novel Gripper for Dexterous Applications

  • 269 Accesses

Abstract

Speed and flexibility are the primary concerns to whom a well designed industrial gripper should target. The first one leads to unquestionable pros in terms of production, while the second one to the ability of grasping and manipulating several payloads. However, these qualities are opposed to each other in terms of design requirements: speed requires a structure built of rigid bodies, flexibility would have to be favoured by the use of soft materials. As a common target, the human hand represents the most interesting inspiration source in this field, due to its natural dexterity and ability to perform in-hand manipulations. Thus, many bio-inspired or bio-mimicked grippers have been developed in the last decades with the final aim of replicating the terrific capabilities offered by the human hand. In such panorama, this paper presents the kinematic synthesis of a novel, modular, reconfigurable gripper, which is capable to manipulate a plurality of objects, being dexterous at the same time. Instead of using soft materials to achieve in-hand manipulation, the authors focused to use mechanisms to address the problem. The concept of manipulation is firstly evaluated in a multibody software environment, then a physical prototype was developed, and the necessary control laws were derived. Several experiments were conducted to test the effectiveness of the proposed structure. Results in terms of accuracy and repeatability are shown, and also the ability to address the three major tasks of grasp, in-hand manipulation and release with appropriate posture have been demonstrated.

This is a preview of subscription content, log in to check access.

Access options

Buy single article

Instant unlimited access to the full article PDF.

US$ 39.95

Price includes VAT for USA

Subscribe to journal

Immediate online access to all issues from 2019. Subscription will auto renew annually.

US$ 199

This is the net price. Taxes to be calculated in checkout.

References

  1. 1.

    Bicchi, A.: On the closure properties of robotic grasping. Int. J. Robot. Res. 14(4), 319–334 (1995)

  2. 2.

    Howard, W., Kumar, V.: Stamps on the stability of grasped objects. IEEE Trans. Robot. Autom. 12(6), 904–917 (1996)

  3. 3.

    Salisbury, J.K., Roth, B.: Kinematic and force analysis of articulated mechanical hands. J. Mech. Transm. Autom. Des. 105(1), 35–41 (1983)

  4. 4.

    Montana, D.J.: Contact stability for two-fingered grasps. IEEE Trans. Robot. Autom. 8(4), 421–430 (1992)

  5. 5.

    Siciliano, B., Oussama, K., (eds.): Springer handbook of robotics. Springer Science & Business Media (2008)

  6. 6.

    Boubekri, N., Chakraborty, P.: Robotic grasping: gripper designs, control methods and grasp configurations-a review of research. Integr. Manuf. Syst. 13(7), 520–531 (2002)

  7. 7.

    Mattar, E.: A survey of bio-inspired robotics hands implementation: New directions in dexterous manipulation. Robot. Auton. Syst. 61(5), 517–544 (2013)

  8. 8.

    Canali, C., Cannella, F., Chen, F., Sofia, G., Eytan, A., Caldwell, D.G.: An automatic assembly parts detection and grasping system for industrial manufacturing. In Automation Science and Engineering (CASE), 2014 IEEE International Conference on (pp. 215–220). IEEE (2014)

  9. 9.

    Napier, J.R.: The prehensile movements of the human hand. Bone & Joint Journal 38(4), 902–913 (1956)

  10. 10.

    Bicchi, A.: Hands for dexterous manipulation and robust grasping: A difficult road toward simplicity. IEEE Trans. Robot. Autom. 16(6), 652–662 (2000)

  11. 11.

    Butterfa, J., Grebenstein, M., Liu, H, Hirzinger, G.: DLR-Hand II: Next generation of a dextrous robot hand. In: IEEE International Conference on Proceedings 2001 ICRA. Robotics and Automation, 2001. vol. 1, pp. 109–114. IEEE (2001)

  12. 12.

    Bai, Y., Liu, C.K.: Dexterous manipulation using both palm and fingers. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 1560–1565. IEEE (2014)

  13. 13.

    Deimel, R., Oliver, B.: A novel type of compliant and underactuated robotic hand for dexterous grasping. Int. J. Rob. Res. 35(1–3), 161–185 (2016)

  14. 14.

    Hirose, S., Umetani, Y.: The development of soft gripper for the versatile robot hand. Mech. Mach. Theory 13(3), 351–359 (1978)

  15. 15.

    Soriano, E., Rubio, H., Castejn, C., Garca-Prada, J.C.: Design of a low-cost manipulator arm for industrial fields. In: New Trends in Mechanism and Machine Science, pp. 839–847. Springer International Publishing (2015)

  16. 16.

    Maeda, S., Tsujiuchi, N., Koizumi, T., Sugiura, M., Kojima, H.: Development and control of pneumatic robot arm for industrial fields. In: IECON 2011-37th Annual Conference on IEEE Industrial Electronics Society, pp. 86–91. IEEE (2011)

  17. 17.

    Di Gregorio, R.: The 3-RRS wrist: a new, simple and non-overconstrained spherical parallel manipulator. J. Mech. Des. 126(5), 850–855 (2004)

  18. 18.

    Callegari, M., Carbonari, L., Palmieri, G., Palpacelli, M.-C.: Parallel wrists for enhancing grasping performance. In: Grasping in Robotics, pp. 189–219. Springer, London (2013)

  19. 19.

    Carbonari, L., Callegari, M., Palmieri, G., Palpacelli, M.-C.: Analysis of kinematics and reconfigurability of a spherical parallel manipulator. IEEE Trans. Robot. 30(6), 1541–1547 (2014)

  20. 20.

    Zhang, K., Dai, J.S.: Screw-system-variation enabled reconfiguration of the bennett plano-spherical hybrid linkage and its evolved parallel mechanism. J. Mech. Des. 137(6), 062303 (2015)

  21. 21.

    Price, A.D., Jnifene, A., Naguib, H.E.: Design and control of a shape memory alloy based dexterous robot hand. Smart Mater. Struct. 16(4), 1401 (2007)

  22. 22.

    Sudsang, A., Ponce, J., Srinivasa, N.: Grasping and in-hand manipulation: geometry and algorithms. Algorithmica 26(3-4), 466–493 (2000)

  23. 23.

    Mason, M.T.: Manipulator grasping and pushing operations [Ph. D. Thesis, MIT] (1982)

  24. 24.

    Mason, M.T.: Mechanics and planning of manipulator pushing operations. Int. J. Robot. Res. 5(3), 53–71 (1986)

  25. 25.

    Tournassoud, P., Lozano-Pérez, T., Mazer, E.: Regrasping. In: IEEE International Conference on Robotics and Automation, pp. 1924–1928 (1987)

  26. 26.

    Bullock, I.M., Feix, T., Dollar, A.M.: Workspace shape and characteristics for human two-and three-fingered precision manipulation. IEEE Trans. Biomed. Eng. 62(9), 2196–2207 (2015)

  27. 27.

    Borrs, J., Dollar, A.M.: Dimensional synthesis of three-fingered robot hands for maximal precision manipulation workspace. Int. J. Robot. Res. 34(14), 1731–1746 (2015)

  28. 28.

    Fei, C., Cannella, F., Canali, C., Hauptman, T., Sofia, G., Caldwell, D.: In-hand precise twisting and positioning by a novel dexterous robotic gripper for industrial high-speed assembly. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 270–275. IEEE (2014)

  29. 29.

    Tincani, V., Catalano, M.G., Farnioli, E., Garabini, M., Grioli, G., Fantoni, G., Bicchi, A.: Velvet fingers: A smart gripper with controlled contact surfaces. In: International Conference of Intelligent Robots and Systems-IROS 2012, pp. 7–12 (2012)

  30. 30.

    Rahman, N., D’Imperio, M., Carbonari, L., Chen, F., Canali, C., Cannella, F.: A novel bio-inspired modular gripper for in-hand manipulation. In Robotics and Biomimetics (ROBIO), 2015 IEEE International Conference on (pp. 7–12). IEEE (2015)

  31. 31.

    Rahman, N., et al.: Kinematic analysis and synthesis of a novel gripper for dexterous applications. In: 2016 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA). IEEE (2016)

  32. 32.

    Merlet, J.-P.: Jacobian, manipulability, condition number, and accuracy of parallel robots. J. Mech. Des. 128 (1), 199– 206 (2006)

  33. 33.

    Moura, J.T., Elmali, H., Olgac, N.: Sliding mode control with sliding perturbation observer. J. Dyn. Syst. Meas. Control. 119(4), 657–665 (1997)

  34. 34.

    Yau, H.-T., Yan, J.-J.: Adaptive sliding mode control of a high-precision ball-screw-driven stage. Nonlinear Analysis: Real World Applications 10(3), 1480–1489 (2009)

Download references

Author information

Correspondence to Nahian Rahman.

Electronic supplementary material

Below is the link to the electronic supplementary material.

(MP4 205 MB)

(MP4 205 MB)

Rights and permissions

Reprints and Permissions

About this article

Verify currency and authenticity via CrossMark

Cite this article

Rahman, N., Carbonari, L., Caldwell, D. et al. Kinematic Analysis, Prototypation and Control of a Novel Gripper for Dexterous Applications. J Intell Robot Syst 91, 193–206 (2018). https://doi.org/10.1007/s10846-017-0655-x

Download citation

Keywords

  • In-hand manipulation
  • Dexterous Gripper
  • Industrial manipulation