Journal
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
Volume 13, Issue -, Pages -Publisher
SAGE PUBLICATIONS INC
DOI: 10.5772/62131
Keywords
Under-actuated Mechanism; Robotic Gripper; Contact Forces; Grasping; Kinetostatic Analysis
Categories
Funding
- Ministry of Education, Science & Technology(MEST)
- Development Program of Local Science Park - Ulsan Metropolitan City
- Development Program of Local Science Park - MSIP(Ministry of Science, ICT and Future Planning)
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This paper develops a mathematical analysis of contact forces for the under-actuated finger in a general under-actuated robotic hand during grasping. The concept of under-actuation in robotic grasping with fewer actuators than degrees of freedom (DOF), through the use of springs and mechanical limits, allows the hand to adjust itself to an irregularly shaped object without complex control strategies and sensors. Here the main concern is the contact forces, which are important elements in grasping tasks, based on the proposed mathematical analysis of their distributions of the n-DOF under-actuated finger. The simulation results, along with the 3-DOF finger from the ADAMS model, show the effectiveness of the mathematical analysis method, while comparing them with the measured results. The system can find magnitudes of the contact forces at the contact positions between the phalanges and the object.
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