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Grasp compliance achieved with a planar hand composed of multiple 3-joint fingers

Published online by Cambridge University Press:  10 October 2022

Shuguang Huang Open the ORCID record for Shuguang Huang [Opens in a new window]  and
Joseph M. Schimmels
Shuguang Huang*
Affiliation:
Department of Mechanical Engineering, Marquette University, Milwaukee, WI, USA
Joseph M. Schimmels
Affiliation:
Department of Mechanical Engineering, Marquette University, Milwaukee, WI, USA
*
*Corresponding author. E-mail: huangs@marquette.edu
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Abstract

In this paper, the realization of any specified planar Cartesian compliance for an object grasped by a compliant hand is addressed. The hands considered have 2 or more fingers for which each has 3 modulated elastic joints and predetermined link lengths. Geometric construction-based compliance synthesis procedures are developed. Using these procedures, a large set of compliant behaviors can be realized by a single hand simply by adjusting the configuration of each finger and by adjusting the joint stiffness (using variable stiffness actuation) of each finger joint.

Keywords

compliance realizationrobotic handsgrasp compliance
Type
Research Article
Information
Robotica , Volume 41 , Issue 2 , February 2023 , pp. 587 - 608
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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