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

研究了不同表面上的旋转-滚动接触。我们调查的问题，从机制设计和运动规划的角度来看。我们能够开发新的达布框架为基础的运动学缓解运动规划问题，通过转换欠驱动的滚动接触模型到一个完全驱动的。接下来，我们开发了一个运动规划策略，使用几何函数的迭代算法。此外，自旋滚动指尖，类似于自旋滚动球的一般表面上进行了研究。最后，我们开发了一种新的驱动机构，旋转滚动指尖。我们测试了不同的驱动策略，以实现敏捷的指尖抓持机制。随着研究的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.