Grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers

In this work, we focus on building the model of optimization design of the fingertip to evaluate the best fingertip shape and determining the size range of objects grasped by fingertips steadily. We describe the effect of fingertip dimension on the stability of fingertip grasp, while other existing...

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Main Authors: Dong, Huixu, Ehsan Asadi, Qiu, Chen, Dai, Jiansheng, Chen, I-Ming
Other Authors: Robotics Research Centre
Format: Article
Language:English
Published: 2020
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Online Access:https://hdl.handle.net/10356/139238
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-1392382020-05-18T06:23:29Z Grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers Dong, Huixu Ehsan Asadi Qiu, Chen Dai, Jiansheng Chen, I-Ming Robotics Research Centre Engineering::Mechanical engineering Fingertip Grasp Fingertip Design In this work, we focus on building the model of optimization design of the fingertip to evaluate the best fingertip shape and determining the size range of objects grasped by fingertips steadily. We describe the effect of fingertip dimension on the stability of fingertip grasp, while other existing works mostly paid close attention to stability analysis for existing fingertip designs or prototypes. First, we elaborate on a versatile force-form analysis approach to quantifying the grasp stability by constructing a series of mathematical models under rolling constraints. Second, the best performing fingertip shape is indicated for realizing stable fingertip grasps. Next, the relations between the dimension of the fingertip, the size of objects, and the posture of the fingertip relative to a stable contact point are expressed by mathematical formulations in geometric constraints. Finally, an under-actuated gripper with two 3-link fingers is designed and performs practical experiments to demonstrate for verifying the presented analysis and models. 2020-05-18T06:23:29Z 2020-05-18T06:23:29Z 2018 Journal Article Dong, H., Ehsan Asadi, Qiu, C., Dai, J., & Chen, I.-M. (2018). Grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers. Mechanism and Machine Theory, 130, 447-462. doi:10.1016/j.mechmachtheory.2018.08.028 0094-114X https://hdl.handle.net/10356/139238 10.1016/j.mechmachtheory.2018.08.028 2-s2.0-85053307562 130 447 462 en Mechanism and Machine Theory © 2018 Elsevier Ltd. All rights reserved.
institution Nanyang Technological University
building NTU Library
country Singapore
collection DR-NTU
language English
topic Engineering::Mechanical engineering
Fingertip Grasp
Fingertip Design
spellingShingle Engineering::Mechanical engineering
Fingertip Grasp
Fingertip Design
Dong, Huixu
Ehsan Asadi
Qiu, Chen
Dai, Jiansheng
Chen, I-Ming
Grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers
description In this work, we focus on building the model of optimization design of the fingertip to evaluate the best fingertip shape and determining the size range of objects grasped by fingertips steadily. We describe the effect of fingertip dimension on the stability of fingertip grasp, while other existing works mostly paid close attention to stability analysis for existing fingertip designs or prototypes. First, we elaborate on a versatile force-form analysis approach to quantifying the grasp stability by constructing a series of mathematical models under rolling constraints. Second, the best performing fingertip shape is indicated for realizing stable fingertip grasps. Next, the relations between the dimension of the fingertip, the size of objects, and the posture of the fingertip relative to a stable contact point are expressed by mathematical formulations in geometric constraints. Finally, an under-actuated gripper with two 3-link fingers is designed and performs practical experiments to demonstrate for verifying the presented analysis and models.
author2 Robotics Research Centre
author_facet Robotics Research Centre
Dong, Huixu
Ehsan Asadi
Qiu, Chen
Dai, Jiansheng
Chen, I-Ming
format Article
author Dong, Huixu
Ehsan Asadi
Qiu, Chen
Dai, Jiansheng
Chen, I-Ming
author_sort Dong, Huixu
title Grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers
title_short Grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers
title_full Grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers
title_fullStr Grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers
title_full_unstemmed Grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers
title_sort grasp analysis and optimal design of robotic fingertip for two tendon-driven fingers
publishDate 2020
url https://hdl.handle.net/10356/139238
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