Title :
Selectively compliant underactuated hand for mobile manipulation
Author :
Aukes, Daniel ; Kim, Susan ; Garcia, Pablo ; Edsinger, Aaron ; Cutkosky, Mark R.
Author_Institution :
Dept. of Mech. Eng., Stanford Univ., Stanford, CA, USA
Abstract :
The demands of mobile manipulation are leading to a new class of multi-fingered hands with a premium on being lightweight and robust as well as being able to grasp and perform basic manipulations with a wide range of objects. A promising approach to addressing these goals is to use compliant, underactuated hands with selectively lockable degrees of freedom. This paper presents the design of one such hand that combines series-elastic actuation and electrostatic braking at the joints. A numerical analysis shows how the maximum pullout force varies as a function of kinematic parameters, spring forces at the joints and brake torques.
Keywords :
brakes; design engineering; dexterous manipulators; elasticity; electrostatics; force control; manipulator kinematics; mobile robots; numerical analysis; springs (mechanical); torque control; brake torque; electrostatic braking; hand design; joints; kinematic parameter; lockable degrees of freedom; maximum pullout force; mobile manipulation; multifingered hands; numerical analysis; selectively compliant underactuated hand; series-elastic actuation; spring forces; Actuators; Force; Friction; Grasping; Joints; Springs; Tendons;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6224738