Systematic object-invariant in-hand manipulation via reconfigurable underactuation: Introducing the RUTH gripper
Systematic object-invariant in-hand manipulation via reconfigurable underactuation: Introducing the RUTH gripper
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DOI：
10.1177/02783649211048929
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发表时间：
2021-10
期刊：
影响因子：
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通讯作者：
Qiujie Lu;Nicholas Baron;A. B. Clark;Nicolás Rojas
中科院分区：
文献类型：
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作者：
Qiujie Lu;Nicholas Baron;A. B. Clark;Nicolás Rojas
我们介绍了一种可重构的欠驱动机器人手能够执行系统的灵活的手操作，无论物体的大小或形状。手利用一个两个自由度的五连杆机构作为手掌的夹具，与三个三指骨欠驱动的手指，由一个单一的致动器，连接到手掌的移动的旋转关节联合控制。在机器人手系统中总共使用了三个致动器，一个用于通过欠驱动肌腱系统控制手指施加在物体上的力，两个用于改变手掌的配置，从而改变手指的定位。这种新颖的布局允许分离抓取和操纵，便于规划和执行手操纵操作。可重构的手掌提供了一个大的把握多功能性的手，并允许容易计算的任务空间和关节空间之间的映射，用于基于距离的联动运动学的操纵。不同大小和形状的物体从一个姿势到另一个姿势的运动是直接和系统的，只要物体保持被抓住。这是保证独立和被动的欠驱动的手指使用自定义肌腱路由方法，它不允许肌腱长度变化时，相对手指的基础位置与手掌重新配置的变化。我们分析了理论抓取工作空间和手的抓取和操作能力，目前的算法计算的操作地图和在手操作规划，并评估所有这些实验。不同大小和形状的物体的几个操作轨迹的数值和经验结果清楚地表明了所提出的概念的可行性。
We introduce a reconfigurable underactuated robot hand able to perform systematic prehensile in-hand manipulations regardless of object size or shape. The hand utilizes a two-degree-of-freedom five-bar linkage as the palm of the gripper, with three three-phalanx underactuated fingers, jointly controlled by a single actuator, connected to the mobile revolute joints of the palm. Three actuators are used in the robot hand system in total, one for controlling the force exerted on objects by the fingers through an underactuated tendon system, and two for changing the configuration of the palm and, thus, the positioning of the fingers. This novel layout allows decoupling grasping and manipulation, facilitating the planning and execution of in-hand manipulation operations. The reconfigurable palm provides the hand with a large grasping versatility, and allows easy computation of a map between task space and joint space for manipulation based on distance-based linkage kinematics. The motion of objects of different sizes and shapes from one pose to another is then straightforward and systematic, provided the objects are kept grasped. This is guaranteed independently and passively by the underactuated fingers using a custom tendon routing method, which allows no tendon length variation when the relative finger base positions change with palm reconfigurations. We analyze the theoretical grasping workspace and grasping and manipulation capability of the hand, present algorithms for computing the manipulation map and in-hand manipulation planning, and evaluate all these experimentally. Numerical and empirical results of several manipulation trajectories with objects of different size and shape clearly demonstrate the viability of the proposed concept.