Abstract
In the field of robotic hands, tendon actuation is one of the most common ways to control self-adaptive underactuated fingers thanks to its compact size. Either differential or direct drive mechanisms are usually used in these systems to perform synchronised grasping using a single actuator. However, synchronisation problems arise in underactuated grippers whose position of proximal joints varies with time to perform manipulation operations, as this results in a tendon-driven system with dynamic anchor pulleys. This paper introduces a novel passively compliant idler mechanism to avoid unsynchronisation in grippers with a dynamic multi-tendon routing system, such that adequate grasping contact forces are kept under changes in the proximal joints’ positions. A re-configurable palm underactuated dexterous gripper is used as a case study, with the performance of the proposed compliant idler system being evaluated and compared through a contact force analysis during rotation and translation in-hand manipulation tasks. Experiment results clearly demonstrate the ability of the mechanism to synchronise a dynamic tendon routing gripper. A video summarising experiments and findings can be found at https://imperialcollegelondon.box.com/s/hk58688q2hjnu8dhw7uskr7vi9tqr9r5.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Bai, G., Rojas, N.: Self-adaptive monolithic anthropomorphic finger with teeth-guided compliant cross-four-bar joints for underactuated hands. In: 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), pp. 145–152. IEEE (2018)
Baril, M., Guay, F., Gosselin, C., et al.: Static analysis of single-input/multiple-output tendon-driven underactuated mechanisms for robotic hands. In: ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, pp. 155–164. American Society of Mechanical Engineers Digital Collection (2010)
Butterfaß, J., Grebenstein, M., Liu, H., Hirzinger, G.: Dlr-hand ii: next generation of a dextrous robot hand. In: Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No. 01CH37164), vol. 1, pp. 109–114. IEEE (2001)
Che, D., Zhang, W.: Gcua humanoid robotic hand with tendon mechanisms and its upper limb. Int. J. Soc. Robot. 3(4), 395–404 (2011)
Cheon, S., Choi, W., Oh, S.R., Oh, Y.: Development of an underactuated robotic hand using differential gear mechanism. In: 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), pp. 328–334. IEEE (2014)
Cui, X., Sun, J., Zhang, X.S., Xu, S.J., Dai, J.S.: A metamorphic hand with coplanar reconfiguration. In: 2018 International Conference on Reconfigurable Mechanisms and Robots (ReMAR), pp. 1–7. IEEE (2018)
Dollar, A.M., Howe, R.D.: The highly adaptive SDM hand: design and performance evaluation. Int. J Robot. Res. 29(5), 585–597 (2010)
Gosselin, C., Pelletier, F., Laliberte, T.: An anthropomorphic underactuated robotic hand with 15 dofs and a single actuator. In: 2008 IEEE International Conference on Robotics and Automation, pp. 749–754. IEEE (2008)
Liow, L., Clark, A.B., Rojas, N.: Olympic: a modular, tendon-driven prosthetic hand with novel finger and wrist coupling mechanisms. IEEE Robot. Autom. Lett. 5(2), 299–306 (2019)
Lu, Q., Baron, N., Clark, A.B., Rojas, N.: The ruth gripper: systematic object-invariant prehensile in-hand manipulation via reconfigurable underactuation. Under review
Ma, R.R., Dollar, A.M.: An underactuated hand for efficient finger-gaiting-based dexterous manipulation. In: 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014), pp. 2214–2219. IEEE (2014)
Niestanak, V.D., Moshaii, A.A., Moghaddam, M.M.: A new underactuated mechanism of hand tendon injury rehabilitation. In: 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM), pp. 400–405. IEEE (2017)
Rossi, C., Savino, S., Niola, V., Troncone, S.: A study of a robotic hand with tendon driven fingers. Robotica 33(5), 1034–1048 (2015)
Song, J., Zhang, W.: JLST hand: a novel powerful self-adaptive underactuated hand with joint-locking and spring-tendon mechanisms. In: Agah, A., Cabibihan, J.-J., Howard, A.M., Salichs, M.A., He, H. (eds.) ICSR 2016. LNCS (LNAI), vol. 9979, pp. 492–501. Springer, Cham (2016). https://doi.org/10.1007/978-3-319-47437-3_48
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Wang, J., Lu, Q., Clark, A.B., Rojas, N. (2020). A Passively Compliant Idler Mechanism for Underactuated Dexterous Grippers with Dynamic Tendon Routing. In: Mohammad, A., Dong, X., Russo, M. (eds) Towards Autonomous Robotic Systems. TAROS 2020. Lecture Notes in Computer Science(), vol 12228. Springer, Cham. https://doi.org/10.1007/978-3-030-63486-5_3
Download citation
DOI: https://doi.org/10.1007/978-3-030-63486-5_3
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-63485-8
Online ISBN: 978-3-030-63486-5
eBook Packages: Computer ScienceComputer Science (R0)