Article de revue (2011)
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Abstract
In this paper, the issue of the kinematic - as opposed to dynamic - preshaping of self-adaptive robotic fingers driven by linkages is discussed. A method to obtain designs of these fingers capable of various behaviours during their closing motions is presented. The method is based on using triggered passive elements in carefully selected joints of the finger and the selection or optimization of geometric parameters to obtain particular kinematic relationships between the motions of the phalanges. This method is very general and can be applied to any self-adaptive robotic finger in order to obtain many different types of closing motions. Examples given in this paper are focusing on two different preshaping motions, the first one aims at allowing pinch grasps while the second mimics a human finger. The fundamental aim of this paper is to show that various preshapings of self-adaptive fingers are possible, not just one, and to give two step-by-step examples.
Mots clés
Mechanical Engineering; Technology and Engineering; Materials of engineering and construction. Mechanics of materials; Mechanical engineering and machinery; Technology;
Sujet(s): |
2100 Génie mécanique > 2100 Génie mécanique 2600 Robotique > 2600 Robotique |
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Département: | Département de génie mécanique |
Organismes subventionnaires: | CRSNG/NSERC, Fonds québécois de la recherche sur la nature et les technologies (FQRNT) |
URL de PolyPublie: | https://publications.polymtl.ca/3409/ |
Titre de la revue: | Mechanical Sciences (vol. 2, no 1) |
Maison d'édition: | Copernicus Publications |
DOI: | 10.5194/ms-2-41-2011 |
URL officielle: | https://doi.org/10.5194/ms-2-41-2011 |
Date du dépôt: | 10 janv. 2019 16:27 |
Dernière modification: | 09 avr. 2024 21:45 |
Citer en APA 7: | Birglen, L. (2011). The kinematic preshaping of triggered self-adaptive linkage-driven robotic fingers. Mechanical Sciences, 2(1), 41-49. https://doi.org/10.5194/ms-2-41-2011 |
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