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

新型敏捷三自由度指尖抓取机构的设计和几何运动规划研究

• 批准号: 21K20391
• 负责人: Tafrishi Seyed・Amir
• 金额: $ 1.91万
• 依托单位: Tohoku University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Research Activity Start-up
• 财政年份: 2021
• 资助国家: 日本
• 起止时间: 2021-08-30 至 2023-03-31
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-21K20391/
• 关键词: Geometric mechanics; Differential geometry; Motion planning; Control; Agile fingertip; Dexterous manipulation; Design; Robots; Robotics; Path planning; Agile fingertips

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.

研究目的是研究不同表面上的旋转触点。我们从机制设计和运动计划的角度研究了问题。我们能够开发新的基于Darboux框架的运动学，以通过将不足的滚动接触模型转换为完全散入的滚动接触模型来缓解运动计划问题。接下来，我们使用具有几何功能的迭代算法制定了运动计划策略。同样，研究了类似于通用表面上的旋转球体的旋转指尖。最后，我们开发了一种用于旋转指尖的新驾驶机构。我们测试了不同的驱动策略，以实现握把机制的敏捷指尖。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布我们的发现。我们计划在不久的将来将我们的新机制发布在国际期刊上。

项目成果

Moonshot Research & Development Initiatives in Japan & Adaptable Robots in Future Societies

登月研究

• 发表时间: 2021
• 作者: Tafrishi Seyed Amir

A multi-function rolling joint with variable impedance actuator

一种带有可变阻抗执行器的多功能滚动关节

• 发表时间: 2022

Discretization and Stabilization of Energy-Based Controller for Period Switching Control and Flexible Scheduling

• DOI: 10.23919/acc53348.2022.9867252
• 发表时间: 2022-06
• 期刊: 2022 American Control Conference (ACC)
• 作者: Seyed Amir Tafrishi;Xiaotian Dai;Y. Hirata;A. Burns

An energy based control for vibration suppression in a rigid parallel series elastic actuator

刚性并联串联弹性致动器中基于能量的振动抑制控制

• 发表时间: 2021
• 作者: Krishnanand Mavinkurve Ujjal ,Tafrishi Seyed Amir ;Kanada Ayato ;Yamamoto Motoji
• 通讯作者: Yamamoto Motoji

Motion Planning of a Spin-Rolling Sphere on a Plane

平面上自旋滚动球体的运动规划

• 发表时间: 2022
• 期刊: Regular and Chaotic Dynamics
• 影响因子: 1.4
• 作者: Seyed Amir Tafrishi;Mikhail Svinin;Motoji Yamamoto;Yasuhisa Hirata
• 通讯作者: Yasuhisa Hirata