scholarly journals Configuration Design and Verification of Soft-rigid Hybrid Hand with ab/ adduction Movement

2021 ◽  
Author(s):  
Zhe Liu ◽  
Zeyi Zhang ◽  
Weihong Liu ◽  
Guozhen Huang ◽  
Yongkang Jiang ◽  
...  
Keyword(s):  
Contact Area ◽  
Load Capacity ◽  
Transfer Efficiency ◽  
Service Robot ◽  
Configuration Design ◽  
Robotic Hand ◽  
Infrared Thermometer ◽  
Motor Torque ◽  
Force Transfer ◽  
Dexterous Hand

Abstract Dexterous hand, as robot end effecter, is gradually showing unparalleled potential. In this paper, we proposed a novel configuration for the movement of the robot thumb metacarpal joint. Then, the force transfer efficiency of the finger structure is analyzed to reduce the demand for motor torque and realize the integration of ten motors inside the palm. Additionally, With the help of a soft-rigid hybrid palm, the contact area of the grasping object and the load capacity has increased considerably. Finally, the integrated verification is carried out on the home-made service robot, which can obtain reliable grasping of objects of various shapes and different surface features. What’s more, the robotic hand flexibly operates the infrared thermometer to measure the temperature of the water in the cup which shows a great application prospect in the field of service and industry.

scholarly journals Analysis of the Actual Contact Surface of Selected Aircraft Tires with the Airport Pavement as a Function of Pressure and Vertical Load

Coatings ◽  
2020 ◽  
Vol 10 (6) ◽  
pp. 591
Author(s):  
Mariusz Wesołowski ◽  
Krzysztof Blacha ◽  
Paweł Pietruszewski ◽  
Paweł Iwanowski
Keyword(s):  
Contact Area ◽  
Contact Surface ◽  
Load Capacity ◽  
Surface Friction ◽  
Vertical Load ◽  
Tire Pressure ◽  
Wheel Load ◽  
Friction Tester ◽  
Flight Operations ◽  
Research Studies

The contact surface of the wheel with the airport surface is important for the safety of flight operations in the ground manoeuvring area. The area of the contact surface, its shape and stress distribution at the pavement surface are the subject of many scientists’ considerations. However, there are only a few research studies which include pressure and vertical load directly and its influence on tire-pavement contact area. There are no research studies which take into account aircraft tires. This work is a piece of an extensive research project which aims to develop a device and a method for continuous measurement of the natural airport pavement’s load capacity. One of the work elements was to estimate the relationship between wheel pressure and wheel pressure on the surface, and the area of the contact surface. The results of the research are presented in this article. Global experience in this field is cited at the beginning of the article. Then, the theoretical basis for calculating the wheel with the road surface contact area was presented. Next, the author’s research views and measurement method are presented. Finally, the obtained test results and comments are shown. The tests were carried out for four types of tires. Two of them were airplane tires from the PZL M28 Skytruck/Bryza and Sukhoi Su-22 aircraft. Two more came from the airport ASFT (airport surface friction tester) friction tester-one smooth ASTM; the other smooth retreaded type T520. The tires were tested in a pressure range from 200 to 800 kPa. The range of vertical wheel load on the pavement was 3.23–25.93 kN for airplane tires, and 0.8–4.0 kN for friction tester tires. The tests proved a significant influence of the wheel pressure value and wheel pressure on the surface on the obtained contact surface area of the wheel with the surface. In addition, it was noted that the final shape and size of the contact surface is affected by factors other than wheel pressure, tire pressure and dimensions.

Focus on the mechatronics design of a new dexterous robotic hand for inside hand manipulation

Robotica ◽  
2018 ◽  
Vol 36 (8) ◽  
pp. 1206-1224 ◽  
Author(s):  
P. Vulliez ◽  
J. P. Gazeau ◽  
P. Laguillaumie ◽  
H. Mnyusiwalla ◽  
P. Seguin
Keyword(s):  
Mechanical Design ◽  
Robotic Hand ◽  
Robot Hand ◽  
Serial Robots ◽  
Industrial Grade ◽  
Robot Hands ◽  
Dexterous Hand ◽  
Common Architecture ◽  
Near Future ◽  
Dexterous Robot Hand

SUMMARYThis paper presents a novel tendon-driven bio-inspired robotic hand design for in-hand manipulation. Many dexterous robot hands are able to produce adaptive grasping, but only a few human-sized hands worldwide are able to produce fine motions of the object in the hand. One of the challenges for the near future is to develop human-sized robot hands with human dexterity. Most of the existing hands considered in the literature suffer from dry friction which creates unwanted backlash and non-linearities. These problems limit the accurate control of the fingers and the capabilities of the hand. Such was the case with our first fully actuated dexterous robot hand: the Laboratoire de Mécanique des Solides (LMS) hand.The mechanical design of the hand relies on a tendon-based transmission system. Developing a fully actuated dexterous robot hand requires the routing of the tendons through the finger for the actuation of each joint. This paper focuses on the evolution of the tendon routing; from the LMS hand to the new RoBioSS dexterous hand. The motion transmission in the new design creates purely linear coupling relations between joints and actuators. Experimental results using the same protocol for the previous hand and the new hand illustrate the evolution in the quality of the mechanical design. With the improvements of the mechanical behavior of the robotic fingers, the hand control software could be extensively simplified. The choice of a common architecture for all fingers makes it possible to consider the hand as a collaboration of four serial robots. Moreover, with the transparency of the motor-joint transmissions, we could use robust, industrial-grade cascaded feedback loops for the axis controls.An inside-hand manipulation task concerning the manipulation of a bottle cap is presented at the end of the paper. As proof of the robustness of the hand, demonstrations of the hand's capabilities were carried out continuously over three days at SPS IPC Drives international exhibition in Nuremberg, in November 2016.

Experimental study on axial load transfer behavior of a coiled tubing stuck in a steel catenary riser: At the stage of the coiled tubing un-helical buckled

2016 ◽  
Vol 231 (2) ◽  
pp. 355-363 ◽  
Author(s):  
Yingchun Chen ◽  
Shimin Zhang ◽  
Wenming Wang ◽  
Minghao Xiong ◽  
Hang Zhang
Keyword(s):  
Experimental Study ◽  
Axial Load ◽  
Load Transfer ◽  
Transfer Efficiency ◽  
Steel Catenary Riser ◽  
Coiled Tubing ◽  
Force Transfer ◽  
Safety And Reliability ◽  
Transfer Behavior ◽  
Outer Pipe

Coiled tubing can be used for steel catenary riser pigging operations to remove wax and other debris attached on the interior of steel catenary riser to recover production and ensure safety. Due to its low rigidity, coiled tubing would deform which might finally damage coiled tubing and steel catenary riser. Thus, in order to ensure safety and reliability of the operation, this article proceeded experimental study on the axial load transfer behavior of a coiled tubing stuck in a steel catenary riser when the coiled tubing has not yet helical buckled. According to the experimental results, the inner pipe’s axial force transfer efficiency is always less than 1; the outer pipe of “unfixed steel catenary riser boundary” would elongate forced by the inner pipe within it, which makes the injected displacement of inner pipe within outer pipe of “unfixed steel catenary riser boundary” bigger than the injected displacement of inner pipe within outer pipe of “fixed steel catenary riser boundary” system at the same force-out; before the inner pipe helical buckles, inner pipe’s force transfer efficiency for unfixed and fixed system can be considered as the same. The research done above might provide important theoretical supports for the steel catenary riser pigging operation.

scholarly journals Optimal grasp planning for a dexterous robotic hand using the volume of a generalized force ellipsoid during accepted flattening

2017 ◽  
Vol 14 (1) ◽  
pp. 172988141668713 ◽  
Author(s):  
Peng Jia ◽  
Wei li Li ◽  
Gang Wang ◽  
Song Yu Li
Keyword(s):  
Simulation Analysis ◽  
Internal Force ◽  
Planning Method ◽  
Robotic Hand ◽  
Grasp Planning ◽  
Joint Torques ◽  
Contact Points ◽  
Generalized Force ◽  
Internal Forces ◽  
Dexterous Hand

A grasp planning method based on the volume and flattening of a generalized force ellipsoid is proposed to improve the grasping ability of a dexterous robotic hand. First, according to the general solution of joint torques for a dexterous robotic hand, a grasping indicator for the dexterous hand—the maximum volume of a generalized external force ellipsoid and the minimum volume of a generalized contact internal force ellipsoid during accepted flattening—is proposed. Second, an optimal grasp planning method based on a task is established using the grasping indicator as an objective function. Finally, a simulation analysis and grasping experiment are performed. Results show that when the grasping experiment is conducted with the grasping configuration and positions of contact points optimized using the proposed grasping indicator, the root-mean-square values of the joint torques and contact internal forces of the dexterous hand are at a minimum. The effectiveness of the proposed grasping planning method is thus demonstrated.

scholarly journals Towards Multi-finger Dexterous Hand Mechanics Control and Tactile Feedback

2021 ◽  
Vol 15 (4) ◽  
pp. 0-0
Keyword(s):  
Haptic Feedback ◽  
Rapid Development ◽  
Tactile Feedback ◽  
Kinematics And Dynamics ◽  
Robotic Hand ◽  
Space Technology ◽  
Mechanical Control ◽  
Drive Control ◽  
Dexterous Hand ◽  
End Effectors

Abstract：The ever-changing demands of industrial automation and space technology have promoted the rapid development of robotics. Traditional robotic end effectors are difficult to perform smart operations, so there is an urgent need for a robotic hand to perform complex operations instead of humans. In this article, we will focus our attention on mechanical control and haptic feedback. Mechanical control and haptic feedback are necessary conditions for the stable and accurate grasping of multi-finger dexterous hands. Tactile perception can provide stiffness and temperature to multi-finger dexterous hands. Important information makes the function of the dexterous hand more perfect. This article introduces the kinematics and dynamics of dexterous hand fingers, as well as the kinematics and dynamics solving equations, then reviews the current sensors and various control driving methods used in dexterous hands, discusses drive control, and compares each method Pros and cons. Finally, the future development of dexterous hands is predicted.

Robotic hand-arm system for on-orbit servicing missions in Tiangong-2 Space Laboratory

2019 ◽  
Vol 39 (5) ◽  
pp. 999-1012 ◽  
Author(s):  
Yiwei Liu ◽  
Shipeng Cui ◽  
Hong Liu ◽  
Minghe Jin ◽  
Fenglei Ni ◽  
...  
Keyword(s):  
Modular Design ◽  
Robotic Hand ◽  
Time Step ◽  
Content Type ◽  
Step Motion ◽  
Electrical Connector ◽  
Central Controller ◽  
Space Manipulators ◽  
Dexterous Hand ◽  
Collision Force

Purpose The purpose of this study is to develop a robotic hand–arm system for on-orbit servicing missions at the Tiangong-2 (TG-2) Space Laboratory. Design/methodology/approach The hand–arm system is mainly composed of a lightweight arm, a dexterous hand, an electrical cabinet, a global camera, a hand–eye camera and some human–machine interfaces. The 6-DOF lightweight arm and the 15-DOF dexterous hand adopt the modular design philosophy that greatly reduces the design cycle and cost. To reduce the computational burden on the central controller and simplify system maintenance, an electrical system which has a hierarchical structure is introduced. Findings The prototypical operating experiments completed in TG-2 space laboratory demonstrate the performance of the hand–arm system and lay foundations for the future applications of space manipulators. Originality/value The main contributions of this paper are as follows a robotic hand–arm system which can perform on-orbit servicing missions such as grasping the electric drill, screwing the bolt, unscrewing J599 electrical connector has been developed; a variable time step motion plan method is proposed to adjust the trajectories of the lightweight arm to reduce or eliminate the collision force; and a dexterous hand uses the coordinated grasp control based on the object Cartesian stiffness to realize stable grasp. To solve the kinematic mapping from the cyber glove commands to the dexterous hand, a fingertip-position-based method is proposed to acquire precise solutions.

Metamorphic Hand Based Grasp Constraint and Affordance

2015 ◽  
Author(s):  
Guowu Wei ◽  
Jie Sun ◽  
Xinsheng Zhang ◽  
Dirk Pensky ◽  
Justus Piater ◽  
...  
Keyword(s):  
Object Manipulation ◽  
Theoretical Background ◽  
Structure Design ◽  
Service Robot ◽  
Mobile Manipulator ◽  
Robotic Hand ◽  
Robot Arm ◽  
Hand Kinematics ◽  
Grasp Quality

This paper presents the kinematics and grasp constraint and affordance of a newly designed mobile manipulator with a three-fingered metamorphic robotic hand. Structure design of the mobile manipulator, which contains a Robotino 3.0, a customised robot arm and a three-fingered metamorphic hand, is presented. Using mechanism decomposition, kinematics of the manipulator is formulated based on product-of-exponentials method and kinematics of the metamorphic hand is investigated leading to the construction of grasp constraint providing theoretical background for measuring grasp quality of the grasps predicted by the grasp-affordance model. Further, relation of the grasp-affordance model to the manipulator and hand kinematics with the associated grasp constraint are indicated linking the manipulator kinematics with the grasp-affordance model for object manipulation. The mobile manipulator proposed in this paper is to be used for toys tidying up in a child’s room with extended applications to the field of service robot in clutter clearing.

Kinematic Analysis of a Dexterous Hand

2012 ◽  
Vol 433-440 ◽  
pp. 754-762
Author(s):  
Bibhuti Bhusan Biswal ◽  
P.K. Parida ◽  
K.C. Pati
Keyword(s):  
Kinematic Analysis ◽  
Robotic Hand ◽  
Robotic Hands ◽  
Irregular Shapes ◽  
Soft Objects ◽  
Dexterous Hand ◽  
Human Hands

Handling of objects with irregular shapes and that of flexible/soft objects by ordinary robot grippers is difficult. Multi fingered gripper may be a solution to such handling tasks. However, dexterous grippers will be the appropriate solution to such problems. Although it is possible to develop robotic hands which can be very closely mapped to human hands, it is sometimes not to be done due to control, manufacturing and economic reasons. The present work aims at designing and developing a dexterous robotic hand for manipulation of objects.

Precision Grasp Planning for Multi-Finger Hand to Grasp Unknown Objects

Robotica ◽  
2019 ◽  
Vol 37 (08) ◽  
pp. 1415-1437
Author(s):  
Wenyu Yan ◽  
Zhen Deng ◽  
Jinbao Chen ◽  
Hong Nie ◽  
Jianwei Zhang
Keyword(s):  
Optimization Method ◽  
Robotic Hand ◽  
Robotic Hands ◽  
Simulation Experiments ◽  
Grasp Planning ◽  
Planning Framework ◽  
Fitting Method ◽  
Dexterous Hand ◽  
Unknown Objects ◽  
Object Models

SummaryDetermining an appropriate grasp configuration for multi-finger grasping is difficult due to the complexity of robotic hands. The multi-finger grasp planning should consider not only geometry constraints of objects but also kinematics and dynamics of robotic hand. In this paper, a precision grasp-planning framework is presented for multi-finger hand to grasp unknown objects. First, the manipulation capabilities of the robotic hand are analyzed. The analysis results are further used as bases for the precision grasp planning. Second, the superquadric (SQ) fitting method is used for approximating unknown object models. Finally, a local–global optimization method is implemented to find appropriate grasp configurations for dexterous hand. The presented planning framework is validated in simulation experiments. Simulation results demonstrated that the presented grasp-planning framework enables the multi-finger hand to grasp unknown objects effectively.

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