Advertisement

Static Force Analysis of a Finger Mechanism for a Versatile Gripper

  • Ivan I. BorisovEmail author
  • Sergey A. Kolyubin
  • Alexey A. Bobtsov
Conference paper
Part of the Lecture Notes in Networks and Systems book series (LNNS, volume 95)

Abstract

In the development of a mechanism, it is important to know the magnitudes, directions, and locations of the constraint forces between the connected links of the kinematic chain in order to design a mechanism with desired characteristics. This paper presents an approach of a static force analysis of the novel complex mechanism consisting of 8 links, which belongs to the VI class of the Assur group. It means that it can be only separated into an input link and a system of 6 links which cannot be divided into smaller groups; thus, traditional methods for graphical analyses cannot be used. The mechanism is used to implement a finger of a versatile bio-inspired industrial gripper, which can change the degree of freedom (DOF) in order to change the mode of grasping. It is possible to change DOF via breaking/reconnecting the kinematic chain of the finger. When the mechanism is intact, it has only 1 DOF and it represents a fully kinematically defined structure that allows performing a precision grasp. When the kinematic chain is broken, the finger gets underactuated, thus it has 2 DOF, and an underactuated power grasp can be performed. The finger represents different types of a mechanism in precision and power grasps. Force analyses of the finger in both modes were carried out in order to get information about the relationship between the torque applied to a driving link and forces applied to surfaces of phalanges. The paper is concerned with the force analysis and a design of a prototype of the gripper.

Keywords

Grasping Grippers Mechanisms Underactuation Robotics 

Notes

Acknowledgment

This work is supported by the Russian Science Foundation grant (project №17-79-20341). The authors would like to express their deepest appreciation to TRA Robotics Ltd. Company for the technical assistance and support of this study.

References

  1. 1.
    Guillaume, R.: How to choose the right end effector for your application, Robotiq, September 2013. https://blog.robotiq.com/bid/67331/New-Ebook-How-to-Choosethe-Right-End-Effector-for-your-Application
  2. 2.
    Watanabe, T.: Chapter 1 - background: dexterity in robotic manipulation by imitating human beings. In: Watanabe, T., Harada, K., Tada, M. (Eds.) Human Inspired Dexterity in Robotic Manipulation, pp. 1–7. Academic Press (2018)Google Scholar
  3. 3.
    Feix, T., Romero, J., Schmiedmayer, H., Dollar, A.M., Kragic, D.: The grasp taxonomy of human grasp types. Proc. IEEE Trans. Hum.-Mach. Syst. 46(1), 66–77 (2016)CrossRefGoogle Scholar
  4. 4.
    Gonzalez, F., Gosselin, F., Bachta, W.: Analysis of hand contact areas and interaction capabilities during manipulation and exploration. IEEE Trans. Haptics 7(4), 415–429 (2014)CrossRefGoogle Scholar
  5. 5.
    Borisov, I.I., et al.: Versatile gripper as key part for smart factory. In: Proceedings of 2018 IEEE Industrial Cyber-Physical Systems (ICPS), St. Petersburg, Russia, pp. 476–481, May 2018Google Scholar
  6. 6.
    Wang, X.-Q., et al.: Design and control of a coupling mechanism-based prosthetic hand. J. Shanghai Jiaotong Univ. (Sci.) 15(5), 571–577 (2010)CrossRefGoogle Scholar
  7. 7.
    Townsend, W.: The barreth and grasper – programmable flexible part handling and assembly. Ind. Robot: Int. J. Robot. Res. Appl. 27(3), 181–188 (2000)CrossRefGoogle Scholar
  8. 8.
    Sdh servo-electric 3-finger gripping hand (2018). http://www.schunk-modular-robotics.com
  9. 9.
    Lalibert’e, T., Birglen, L., Gosselin, C.: Underactuation in robotic grasping hands. Mach. Intell. Robot. Control 4(3), 1–11 (2002)Google Scholar
  10. 10.
    Suarez-Escobar, M., Gallego-Sanchez, J.A., Rendon-Velez, E.: Mechanisms for linkage-driven underactuated hand exoskeletons: conceptual design including anatomical and mechanical specifications. Int. J. Interact. Des. Manufact. (IJIDeM) 11(1), 55–75 (2017)CrossRefGoogle Scholar
  11. 11.
    Yoon, D., Choi, Y.: Underactuated finger mechanism using contractible slider-cranks and stackable four-bar linkages. IEEE/ASME Trans. Mechatron. 22(5), 2046–2057 (2017)CrossRefGoogle Scholar
  12. 12.
    Kragten, G.A., Baril, M., Gosselin, C., Herder, J.L.: Stable precision grasps by underactuated grippers. IEEE Trans. Robot. 27(6), 1056–1066 (2011)CrossRefGoogle Scholar
  13. 13.
    Ma, R.R., Spiers, A., Dollar, A.M.: M2 gripper: extending the dexterity of a simple, underactuated gripper. In: Advances in Reconfigurable Mechanisms and Robots II, pp. 795–805. Springer, Cham (2016)Google Scholar
  14. 14.
    Watanabe, T.: Chapter 7 - hand design — hybrid soft and hard structures based on human fingertips for dexterity. In: Watanabe, T., Harada, K., Tada, M. (Eds.) Human Inspired Dexterity in Robotic Manipulation, pp. 115–147. Academic Press (2018)Google Scholar
  15. 15.
    Uicker, J., Pennock, G., Shigley, J.: Theory of Machines and Mechanisms. Oxford University Press, Oxford (2011)Google Scholar
  16. 16.
    Borisov, I.I., et al.: Novel optimization approach to development of digit mechanism for bio-inspired prosthetic hand. In: Proceedings of the 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob), pp. 726–731 (2018)Google Scholar
  17. 17.
    Shai, O.: Topological synthesis of all 2D mechanisms through Assur graphs. In: Proceedings of the 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, American Society of Mechanical Engineers, pp. 1727–1738 (2010)Google Scholar
  18. 18.
    Crossley, F.R.E.: Mechanisms in modern engineering design – a handbook for engineers designer and inventors. In: Artobolevsky, I.I. (Ed.), vols. 1, 2 (Part 1) and 2 (Part 2). (Trans: Russian into English by Weinstein, N.) MIR, Moscow (1976). Mechanism and Machine Theory, vol. 14, Issue 2 (1979)Google Scholar
  19. 19.
    Artobolevsky, I.I.: Mechanisms in Modern Engineering Design, 2814 p. Mir Publ., Moscow (1979)Google Scholar
  20. 20.
    Chu, J., Cao, W.: Systemics of Assur groups with multiple joints. Mech. Mach. Theory 33(8), 1127–1133 (1998)Google Scholar

Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Ivan I. Borisov
    • 1
    • 2
    Email author
  • Sergey A. Kolyubin
    • 1
  • Alexey A. Bobtsov
    • 1
  1. 1.Faculty of Control Systems and RoboticsITMO UniversitySt. PetersburgRussia
  2. 2.Center for Technologies in Robotics and Mechatronics ComponentsInnopolis UniversityInnopolisRussia

Personalised recommendations