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KNTU hand and application of MAG index for form closure grasp

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Abstract

This paper presents a novel hand, consisting of both rigid link and continuum mechanisms, and the application of a newly proposed Multi-Aspect Grasp (MAG) index in Form Closure Grasp (FCG) constraint for holding objects, by the presented robotic hand. The KNTU hand, exploits the characteristics of both, rigid-link fingers and continuum fingers, in order to achieve a better grasp. This hand can hold any symmetrical or unsymmetrical object with FCG constraint. First, as a case study, the application of MAG index to Staubli TX40 manipulator is presented. Then, to grasp objects with KNTU hand based on the MAG index, two sets of candidate points with the form closure property are evaluated and the better set is determined. Using MAG index, the grasp by this novel robotic hand is analyzed and the obtained results of such system are introduced.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Pardis Branch, Islamic Azad University, Tehran, Iran

    F. Cheraghpour

  2. Department of Food Technology, College of Aburaihan, University of Tehran, Tehran, Iran

    M. Dehghani

  3. Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems Lab, Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran

    A. Feizollahi, P. Sabetian & S. Ali A. Moosavian

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  1. F. Cheraghpour
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  2. M. Dehghani
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  3. A. Feizollahi
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  4. P. Sabetian
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  5. S. Ali A. Moosavian
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Correspondence to M. Dehghani.

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Technical Editor: Victor Juliano De Negri, D.Eng.

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Cheraghpour, F., Dehghani, M., Feizollahi, A. et al. KNTU hand and application of MAG index for form closure grasp. J Braz. Soc. Mech. Sci. Eng. 42, 267 (2020). https://doi.org/10.1007/s40430-020-02355-w

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  • DOI: https://doi.org/10.1007/s40430-020-02355-w

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