Adaptive Underactuated Finger With Active Rolling Surface
Adaptive Underactuated Finger With Active Rolling Surface
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DOI：
10.1109/lra.2021.3105729
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发表时间：
2021-10
影响因子：
5.2
通讯作者：
J. Gómez-de-Gabriel;H. Wurdemann
中科院分区：
文献类型：
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作者：
J. Gómez-de-Gabriel;H. Wurdemann
这封信提出了一种新的自适应欠驱动手指的设计，原型和运动学模型与关节皮肤/表面，能够弯曲，并在同一时间，提供积极的滚动运动沿着沿其中心轴，同时保持手指的配置（见图1）。该设计是基于一个平面链重叠的球形指骨，肌腱驱动。指状物具有由中空万向接头的外链制成的铰接表面，所述外链可经由其中心轴线在内部结构的表面上旋转。外表面提供第二主动自由度（DoF）。驱动弯曲和/或滚动运动的两个致动器可以独立使用。一组实验已被纳入到验证和测量的性能的原型的抓取和滚动行动。所提出的手指可以用不同数量的指骨和尺寸来构建。多个这些指状物可以沿着手掌结构布置，从而产生用于需要适应和手内操纵能力（例如pHRI）的应用的多指状物机器人抓握器。
This letter presents the design, prototype and kinematic model of a new adaptive underactuated finger with an articulated skin/surface that is able to bend and, at the same time, provides active rolling motion along its central axis while keeping the finger configuration (see Fig. 1). The design is based on a planar chain of overlapping spherical phalanxes that are tendon-driven. The finger has an articulated surface made of an external chain of hollow universal joints that can rotate via its central axis on the surface of the internal structure. The outer surface provides a second active Degree of Freedom (DoF). The two actuators, driving the bending and/or rolling motion, can be used independently. A set of experiments have been included to validate and measure the performance of the prototype for the grasping and rolling actions. The proposed finger can be built with a different number of phalanxes and sizes. A number of these fingers can be arranged along a palm structure resulting in a multi-finger robotic grasper for applications that require adaptation and in-hand manipulation capabilities such as pHRI.