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The kinematic preshaping of triggered self-adaptive linkage-driven robotic fingers

Lionel Birglen

Article (2011)

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Cite this document: Birglen, L. (2011). The kinematic preshaping of triggered self-adaptive linkage-driven robotic fingers. Mechanical Sciences, 2(1), p. 41-49. doi:10.5194/ms-2-41-2011
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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.

Uncontrolled Keywords

Mechanical Engineering; Technology and Engineering; Materials of engineering and construction. Mechanics of materials; Mechanical engineering and machinery; Technology;

Open Access document in PolyPublie
Subjects: 2100 Génie mécanique > 2100 Génie mécanique
2600 Robotique > 2600 Robotique
Department: Département de génie mécanique
Research Center: Non applicable
Funders: CRSNG/NSERC, Fonds québécois de la recherche sur la nature et les technologies (FQRNT)
Date Deposited: 10 Jan 2019 16:27
Last Modified: 11 Jan 2019 01:20
PolyPublie URL: https://publications.polymtl.ca/3409/
Document issued by the official publisher
Journal Title: Mechanical Sciences (vol. 2, no. 1)
Publisher: Copernicus Publications
Official URL: https://doi.org/10.5194/ms-2-41-2011

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