Underactuated robot hand for dual-arm manipulation

2015 ◽  
Author(s):  
Kengo Yamaguchi ◽  
Yasuhisa Hirata ◽  
Kazuhiro Kosuge
Keyword(s):  
Robot Hand ◽  
Underactuated Robot ◽  
Dual Arm

Regeneration of natural grasp prehensions on underactuated robot‐hand through kinaesthetic guidance

2017 ◽  
Vol 53 (5) ◽  
pp. 314-316
Author(s):  
R. Chattaraj ◽  
S. Khan ◽  
D.G. Roy ◽  
B. Bepari ◽  
S. Bhaumik
Keyword(s):  
Robot Hand ◽  
Underactuated Robot

Sensorless In-Hand Manipulation by An Underactuated Robot Hand

2020 ◽  
Vol 12 (5) ◽  
Author(s):  
Diego Ospina ◽  
Alejandro Ramirez-Serrano
Keyword(s):  
State Of The Art ◽  
A Priori ◽  
Experimental Tests ◽  
Robot Hand ◽  
A Priori Information ◽  
Robot Hands ◽  
Priori Information ◽  
Underactuated Robot ◽  
Theoretical Results ◽  
Manipulation Strategy

Abstract The limited dexterity that existing hand prostheses provide to users contrasts with the manipulation abilities exhibited by state-of-the-art robot hands. This paper presents an underactuated robot hand with in-hand manipulation capabilities to demonstrate the use of underactuation in the development of effective hand replacements. This paper describes a specific underactuated hand architecture, representative of many existing underactuated hand prototypes. First, the hand is modeled and its ability to manipulate objects of different geometries is analyzed. Second, a manipulation strategy suitable for prosthetic applications is proposed. The strategy enables the hand to manipulate objects in-hand without any a priori information of their geometry or physical properties. Finally, experimental tests conducted to validate the theoretical results are presented.

Redundant Driving Underactuated Robot Finger for Powerful Grasp

2013 ◽  
Vol 344 ◽  
pp. 149-152
Author(s):  
Qi Li ◽  
Wen Zeng Zhang
Keyword(s):  
Transmission Mechanism ◽  
Robot Hand ◽  
Bevel Gears ◽  
Wide Range ◽  
Grasping Force ◽  
Belt Transmission ◽  
Underactuated Robot ◽  
Original Characteristic ◽  
Underactuated Finger ◽  
Self Adaptive

In tradition, one underactuated robotic finger with two or three joints always utilizes only one actuator for self-adaptive grasp, which results in quite weak grasping force because there is only one motor and the motor is so small in size so that it can be embedded into the phalange of the robot finger or the palm of the robot hand. Aiming to overcome the weakness, this paper proposed a novel robotic finger with redundant driving, called RD finger, which can produce sufficient grasping force through increasing a redundant motor and keep original characteristic of self-adaptive grasp. A special single direction transmission mechanism is designed in the finger to make two motors seem like one motor and prevent interference between the first motor and the second motor. The grasping process of the RD finger is close to traditional underactuated finger but there is up to double grasping force. One kind of the RD finger is designed in detail with coupling and self-adaptive grasping mode, which is composed of two motors, bevel gears, a pulley-belt transmission, a single direction transmission and a spring. In addition, the RD finger is compact, easy to control, low in energy consumption, is able to provide wide range of grasping force, and is therefore suitable for humanoid hands.

Development of a Dual-Arm Robot System with a Multi-fingered Robot Hand Made of Shape Memory Gel

2016 ◽  
Vol 2016 (0) ◽  
pp. 2P2-14b3
Author(s):  
Naoya ICHIDA ◽  
Kenta NISHIMURA ◽  
Kyohei CHISHIRO ◽  
Mitsuhiro YAMANO ◽  
Toshihiko YASUDA ◽  
...  
Keyword(s):  
Shape Memory ◽  
Robot Hand ◽  
Robot System ◽  
Dual Arm Robot ◽  
Dual Arm

1P2-N05 Development of Underactuated Robot Hand for Power and Precision Grasp

2015 ◽  
Vol 2015 (0) ◽  
pp. _1P2-N05_1-_1P2-N05_2
Author(s):  
Kengo YAMAGUCHI ◽  
Yasuhisa HIRATA ◽  
Kazuhiro KOSUGE
Keyword(s):  
Robot Hand ◽  
Underactuated Robot
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