NRI-Small: Collaborative Research: A Design Methodology for Multi-fingered Robotic Hands with Second-order Kinematic Constraints

该项目开发了一种系统的方法，用于设计多指机器人手和所需运动任务的抓取装置，代表了树形结构铰接系统的运动综合的新形式化。运动学任务被定义为手指的位置和更高的运动导数，加速度与指尖的接触几何形状有关，用于抓取动作。本研究小组的目标是开发用于人机和拟人任务的多指抓取装置，但该方法将成为设计任何一种多指抓取装置的通用工具。这项研究对学术界和整个社会都有许多更广泛的影响。首先，该项目将直接产生多指机械手的设计工具，以实现从任务规范到设计替代方案的自动转换。这本身就是一个重要的发展。该设计工具将提高工业设计高性能、高性价比的多指机械手和其他末端执行器的能力。这通过加速臂端工具的开发直接影响制造，并对最终产品的成本和质量产生二次效益。这将有助于美国保持其领导地位，并鼓励创造高质量的就业机会。这个项目所增加的课程将培养出更有能力处理和解决设计问题的工业工程师。

This project, developing a systematic methodology for the design of multi-fingered robotic hands and grasping devices for a desired kinematic task, represents a novel formalization of the kinematic synthesis of articulated systems as a tree structure. The kinematic task is to be defined as positions and higher motion derivatives of the fingers, with accelerations related to the contact geometry at the fingertips for grasping actions. This research team aims to develop multi-fingered grasping devices for human-robot and anthropomorphic tasks, however the method will be a general tool for the design of any kind of multiple-finger grasping device.This research has a number of broader impacts affecting both the academic community and society at large. First, the project will directly result in a design tool for multi-fingered robotic hands to enable the automatic transformation from task specifications to design alternatives ? an important development in its own right. This design tool will increase the ability of industry to design high performance, cost-effective multi-fingered robotic hands and other end effectors. This directly impacts manufacturing by speeding the development of end-of-arm tooling, with secondary benefits to the cost and quality of the final product. This will assist the U.S. to maintain its leadership and encourage the creation of high-quality jobs. The proposed curriculum additions resulting from this project will produce competent engineers for industry with a greater ability of approaching and solving design problems.