In this section
Below is a list of all relevant publications authored by Robotics Forum members.
@inproceedings{Wang:2020:10.1007/978-3-030-63486-5_3,
author = {Wang, J and Lu, Q and Clark, A and Rojas, N},
doi = {10.1007/978-3-030-63486-5_3},
pages = {25--36},
publisher = {Springer Verlag},
title = {A passively compliant idler mechanism for underactuated dexterous grippers with dynamic tendon routing},
url = {http://dx.doi.org/10.1007/978-3-030-63486-5_3},
year = {2020}
}
TY - CPAPER
AB - In the field of robotic hands, tendon actuation is one of the most common ways to control self-adaptive underactuated fingers thanks to its compact size. Either differential or direct drive mechanisms are usually used in these systems to perform synchronised grasping using a single actuator. However, synchronisation problems arise in underactuated grippers whose position of proximal joints varies with time to perform manipulation operations, as this results in a tendon-driven system with dynamic anchor pulleys. This paper introduces a novel passively compliant idler mechanism to avoid unsynchronisation in grippers with a dynamic multi-tendon routing system, such that adequate grasping contact forces are kept under changes in the proximal joints’ positions. A re-configurable palm underactuated dexterous gripper is used as a case study, with the performance of the proposed compliant idler system being evaluated and compared through a contact force analysis during rotation and translation in-hand manipulation tasks. Experiment results clearly demonstrate the ability of the mechanism to synchronise a dynamic tendon routing gripper. A video summarising experiments and findings can be found at https://imperialcollegelondon.box.com/s/hk58688q2hjnu8dhw7uskr7vi9tqr9r5.
AU - Wang,J
AU - Lu,Q
AU - Clark,A
AU - Rojas,N
DO - 10.1007/978-3-030-63486-5_3
EP - 36
PB - Springer Verlag
PY - 2020///
SN - 0302-9743
SP - 25
TI - A passively compliant idler mechanism for underactuated dexterous grippers with dynamic tendon routing
UR - http://dx.doi.org/10.1007/978-3-030-63486-5_3
UR - http://hdl.handle.net/10044/1/80229
ER -
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