SBIR Phase I: A Resilient and Underactuated Robotic Hand Capable of Both Power and Precision Grasping

SBIR 第一阶段：具有弹性和欠驱动的机械手，能够进行强力和精确的抓取

• 批准号: 1014156
• 负责人: David Wilkinson
• 金额: $ 15万
• 依托单位: Barrett Technology Inc
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2010
• 资助国家: 美国
• 起止时间: 2010-07-01 至 2010-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1014156&HistoricalAwards=false
• 关键词: SBIR; Phase; Resilient; Underactuated; Robotic

This Small Business Innovation Research (SBIR) Phase I project proposes a robotic grasper based on a novel torque switching mechanism, and a structurally compliant finger with embedded sensing. Robotic hands in industry tend to be fragile and lack the dexterity to perform a wide range of grasping and manipulation tasks. Robotic hands in academia tend to be more dexterous yet tend to be bulky, possessing large controller cabinets and/or forearms.Furthermore, when a collision occurs within a robotic workcell it is usually the hand (gripper) that makes impact. The proposed hand will have greater dexterity than a conventional gripper, being able to perform both power grasps and pinch grasps on large and small objects and yet be able to absorb and survive major collisions fully intact while alerting the robot system to movemore cautiously. The Phase-I project objectives are: (1) create prototypes of an active torqueswitching mechanism; (2) create prototypes of a resilient polymer link with an embedded sensor; (3) build a prototype 2-fingered hand; (4) evaluate functionality of the prototype hand. Phase II will result in a compact, durable hand capable of grasping and manipulating a large range ofobjects.The broader impact/commercial potential of this project is three-fold; there will be a general commercial impact, a direct commercial impact, and a societal impact. The general commercial impact addresses the shortcomings of metal gripper devices available today. These gripper devices discourage the use of robotic systems, thereby undermining manufacturing productivity.The proposed solution improves manufacturing competitiveness by enabling easier adoption of robotic work cells. The direct commercial impact is that local (US) workers will assemble, test, and ship these products. Ninety-five percent of the components will be sourced from US fabricators and OEM suppliers, boosting the US economy. Meanwhile, the company exports50% of its finished products to foreign markets. The societal impact stems from the idea that the risk of damage to an expensive robot discourages innovation and keeps the programming to a select few programming ?experts?. The proposed solution invites production line workers back into the process. Without the high cost of collisions, the worker (true expert) is encouraged toexperiment and program process improvements. Corporations otherwise automate these workers out of their skilled jobs who then join the unemployed while the company literally loses touch with the ability to understand and innovate processes.

这个小企业创新研究（SBIR）第一阶段项目提出了一种基于新型扭矩切换机制的机器人抓取器，以及具有嵌入式传感的结构兼容手指。工业中的机器人手往往是脆弱的，并且缺乏灵活性来执行广泛的抓取和操纵任务。学术界的机器人手往往更灵巧，但往往体积庞大，拥有大型控制柜和/或前臂。此外，当机器人工作单元内发生碰撞时，通常是手（夹持器）产生影响。拟议的手将有更大的灵活性比传统的夹具，能够执行电力掌握和捏掌握在大型和小型物体，但能够吸收和生存的主要碰撞完全完好，同时提醒机器人系统movemore谨慎。第一阶段项目的目标是：（1）创建主动扭矩转换机制的原型;（2）创建具有嵌入式传感器的弹性聚合物链接的原型;（3）构建双指手的原型;（4）评估原型手的功能。第二阶段将产生一种紧凑、耐用的手，能够抓住和操纵大量的物体。该项目的更广泛的影响/商业潜力是三方面的;将有一般的商业影响，直接的商业影响和社会影响。一般的商业影响解决了当今可用的金属夹持器装置的缺点。这些抓取装置阻碍了机器人系统的使用，从而降低了制造生产率。所提出的解决方案通过更容易地采用机器人工作单元来提高制造竞争力。直接的商业影响是，当地（美国）工人将组装、测试和运输这些产品。95%的零部件将来自美国制造商和OEM供应商，从而推动美国经济发展。同时，该公司50%的成品出口到国外市场。社会影响源于这样一种想法，即昂贵的机器人损坏的风险阻碍了创新，并使编程保持在少数几个编程？专家？拟议的解决方案邀请生产线工人回到流程中。没有冲突的高成本，鼓励工人（真正的专家）进行实验和程序流程改进。否则，公司会自动化这些工人，使他们失去技术工作，然后加入失业大军，而公司实际上失去了理解和创新流程的能力。