Underactuated Hand Design Using Mechanically Realizable Manifolds
Underactuated Hand Design Using Mechanically Realizable Manifolds
复制标题
使用机械实现歧管的欠驱动手部设计
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
M. Ciocarlie
中科院分区：
文献类型：
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作者：
Tianjian Chen;Maximilian Haas;M. Ciocarlie
手协同或关节协调模式已成为通过简单的手或规划算法实现多功能机器人抓取的有效工具。在这里，我们提出了一种确定手部协同作用的方法，以便可以以欠驱动的方式物理地实现它们。给定运动学手模型和一组所需的抓握，我们的算法优化了机械可实现的流形，该流形设计为可通过物理欠驱动机制实现，从而使最终的手能够用很少的执行器实现所需的抓握。此外，与仅与手势有关的现有确定协同作用的方法相比，我们的方法明确优化了目标抓取的稳定性。我们以三指单执行器手的设计为例，实现了该方法，并通过数值和实验评估其有效性。
Hand synergies, or joint coordination patterns, have become an effective tool for achieving versatile robotic grasping with simple hands or planning algorithms. Here we propose a method to determine the hand synergies such that they can be physically implemented in an underactuated fashion. Given a kinematic hand model and a set of desired grasps, our algorithm optimizes a Mechanically Realizable Manifold designed to be achievable by a physical underactuation mechanism, enabling the resulting hand to achieve the desired grasps with few actuators. Furthermore, in contrast to existing methods for determining synergies which are only concerned with hand posture, our method explicitly optimizes the stability of the target grasps. We implement this method in the design of a three-finger single-actuator hand as an example, and evaluate its effectiveness numerically and experimentally.