Design and Geometric Motion Planning Studies of a Novel Agile 3-DoF Fingertip Grasping Mechanism

研究目的是研究不同表面上的旋转滚动接触。我们从机构设计和运动规划的角度来研究这个问题。我们能够开发新的基于darboux框架的运动学，通过将欠驱动的滚动接触模型转换为完全驱动的模型来缓解运动规划问题。其次，我们开发了一种基于几何函数迭代算法的运动规划策略。同时，研究了在一般表面上类似于自旋球体的自旋滚指尖。最后，我们开发了一种新的旋转指尖驱动机构。我们测试了不同的驱动策略，以实现一个灵活的指尖抓握机构。随着研究扩展到辅助几何控制器，我们能够在不同的期刊和会议上发表我们的研究结果。我们计划在不久的将来在国际期刊上发表我们的新机制。

The research aim was to study the spin-rolling contacts on different surfaces. We investigate the problem from a mechanism design and motion planning point of view. We were able to develop new Darboux-frame-based kinematics for easing the motion planning problem by transforming an underactuated rolling contact model to a fully-actuated one. Next, we developed a motion planning strategy using the iterative algorithm with geometric functions. Also, the spin-rolling fingertip that resembles the spin-rolling sphere on the generic surface is investigated. Finally, we developed a new driving mechanism for spin-rolling fingertips. We tested different actuation strategies to achieve an agile fingertip for the grasping mechanisms. With the extension of the study to assistive geometric controllers, we were able to publish our findings in different journals and conferences. We are planning to publish our new mechanism in international journals in the near future.