Abstract
This paper presents the development of a robotic hand with a movable palm configuration. The proposed design was developed as based on requirements that are obtained by some experiences with LARM hand and experiments with human hand. The conceptual design of the robotic hand is composed by a movable palm and one finger and its performance is based on underactuated mechanisms in order to only use one actuator for the palm and finger movements. This novel design pretends to improve the grasping performance of the LARM hand avoiding to increase the number of actuators. An experimental prototype was built in order to validate the robotic hand design and the obtained results show the viability of the underactuated mechanism to exert the grasping forces on different objects.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Bennet, D.A., Dalley, S.A., Truex, D., Goldfarb, M.: A multigrasp hand prosthesis for providing precision and conformal grasps. IEEE/ASME Trans Mechatron. 20(4), 1697–1704 (2015).
Krausz, N.E., Rorre, R.A., Weir, R.F.: Design and fabrication of six degree-of-freedom open source hand. IEEE Trans. Neural Sys. Rehabil. Eng. 24(5), 562–572 (2016).
Paik, J.K., Shin, B.H., Bang, Y., Shim, Y.: Development of an anthropomorphic robotic arm and hand for interactive humanoids. J. Bionic Eng. 9(2), 133–142 (2012).
Dai, J.S.,Wang, D., Cui, L.: Orientation and workspace analysis of the multifingered metamorphic hand-metahand. IEEE Trans Robotic Autom. 25(4), 942–947 (2009).
Ghafoor, A., Dai, J.S., Duffy, M.: Stiffness modeling of a soft-finger contact in robotic grasping. J. Mech. Des. 124(4), 646–656 (2004).
Wu, L., Carbone, G., Ceccarelli, M.: Designing an underactuated mechanism for a 1 active DOF finger operation. Mech. Mach. Theory 44(2), 336–348 (2009).
Luo, M., Carbone, G., Ceccarelli, M., Zhao, X.: Analysis and design for changing finger posture in robotic hand. Mech. Mach. Theory 45(6), 828–843 (2010).
Yao, S., Ceccarelli, M., Carbone, G., Dong, Z.: Grasp configuration planning for a low-cost and easy-operation underactuated three-fingered robot hand. Mech. Mach. Theory 129, 51–69 (2018).
Kyberd, P.J., Clawson, A., Jones, B.: The use of underactuation in prosthetic grasping. Mech. Sci. 2(1), 27–32 (2011).
Tavakoli, M., Enes, B., Santos, J., Marques, L., de Almeida, A.T.: Underactuated anthropomorphic hands: Actuation strategies for a better functionality. Rob. Auton. Sys. 74, 267–282 (2015).
Ceccarelli, M., Rodriguez, N.E., Carbone, G.: Optimal design of driving mechanism in a 1-DOF anthropomorphic finger. Mech. Mach. Theory 41(8), 897–911 (2005).
Espinosa-Garcia, F.J., Carbone, G., Ceccarelli, M., Cafolla, D., Arias-Montiel, M., Lugo-Gonzalez, E.: A study of feasibility for a design of a metamorphic artificial hand. In: Advances in Service and Industrial Robotics. Nikos A. Aspragathos, Panagiotis N. Koustoumpardis, Vassilis C. Moulianitis (Eds.), 283–290, Springer, Cham (2019).
Carbone, G., Gonzalez, A.: A numerical simulation of the grasp operation by LARM Hand IV: A three finger robotic hand. Robot. Comput. Integr. Manuf. 27(2), 450–459 (2011).
Carbone, G., Rossi, C., Savino, S.: Performance comparison between FEDERICA hand and LARM hand. Int. J. Adv. Robot Syst. 12(90), 1–12 (2015).
Espinosa-Garcia, F.J., Ceccarelli, M., Arias-Montiel, M., Carbone, G., Lugo-Gonzalez, E., Russo, M.: A characterization of a robotic hand with movable palm. In: New Trends in Medical and Service Robotics. Giuseppe Carbone, Marco Ceccarelli, Doina Pisla (Eds.), 118–125, Springer, Cham (2019).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Espinosa-García, F.J., Arias-Montiel, M., Ceccarelli, M., Lugo-González, E., Carbone, G. (2019). Advances on the Development of a Robotic Hand with Movable Palm. In: Uhl, T. (eds) Advances in Mechanism and Machine Science. IFToMM WC 2019. Mechanisms and Machine Science, vol 73. Springer, Cham. https://doi.org/10.1007/978-3-030-20131-9_198
Download citation
DOI: https://doi.org/10.1007/978-3-030-20131-9_198
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-20130-2
Online ISBN: 978-3-030-20131-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)