The Ocean One hands: An adaptive design for robust marine manipulation
The Ocean One hands: An adaptive design for robust marine manipulation
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DOI：
10.1177/0278364917694723
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发表时间：
2017-02-01
影响因子：
9.2
通讯作者：
Cutkosky, Mark R.
中科院分区：
文献类型：
--
作者：
Stuart, Hannah;Wang, Shiquan;Cutkosky, Mark R.
欠驱动、柔顺、肌腱驱动的机械手适合深海探索。坚固的 Ocean One 手设计利用弹性指关节和弹簧传动装置来实现各种捏握和包裹抓握。手指和传动装置的柔顺性决定了触点之间负载分配的程度以及手固定不规则形状物体的能力。然而，它也会降低外部抓取刚度和采集可靠性。 SimGrasp 是一款灵活的动态手模拟器，可以对手进行参数研究，以进行不同传动弹簧刚度的采集和拉出测试。在本申请中，我们通过使用扭转弹簧加载绞盘反转肌腱缠绕方向来实现不同的刚度。通过这种设置，手可以相对柔软地处理精致的物体，并且可以相对僵硬地处理需要力量的任务。作为 Ocean One 人形平台的一部分，两只手进行了现场测试，该平台从地中海 91 m 深的 La Lune 沉船遗址获取了一个花瓶。
Underactuated, compliant, tendon-driven robotic hands are suited for deep-sea exploration. The robust Ocean One hand design utilizes elastic finger joints and a spring transmission to achieve a variety of pinch and wrap grasps. Compliance in the fingers and transmission determines the degree of load-sharing among contacts and the hands' ability to secure irregularly shaped objects. However, it can also decrease external grasp stiffness and acquisition reliability. SimGrasp, a flexible dynamic hand simulator, enables parametric studies of the hand for acquisition and pull-out tests with varying transmission spring rates. In the present application, we take advantage of achieving different stiffnesses by reversing the direction of tendon windup using a torsional spring-loaded winch. With this provision, the hand can be relatively soft for handling delicate objects and stiff for tasks requiring strength. Two hands were field-tested as part of the Ocean One humanoid platform, which acquired a vase from the La Lune shipwreck site at a 91 m depth in the Mediterranean Sea.