single-rb.php

JRM Vol.27 No.5 pp. 496-503
doi: 10.20965/jrm.2015.p0496
(2015)

Paper:

Preliminary Design of a Three-Finger Underactuated Adaptive End Effector with a Breakaway Clutch Mechanism

Kuat Telegenov*, Yedige Tlegenov*, Shahid Hussain**, and Almas Shintemirov*

*Department of Robotics and Mechatronics, School of Science and Technology, Nazarbayev University
53 Kabanbay Batyr Avenue, Astana, Kazakhstan

**School of Mechanical, Materials and Mechatronic Engineering, University of Wollongong
Wollongong, New South Wales 2522, Australia

Received:
March 16, 2015
Accepted:
July 28, 2015
Published:
October 20, 2015
Keywords:
underactuated robotic end effector, gear train mechanism, breakaway clutch mechanism, 3D printing, adaptive grasping
Abstract
A robotic end effector prototype

Commercially available robotic grippers are often expensive and not easy to modify for specific purposes of robotics research and education. To extend the choice of robotic end effectors available to researchers, this paper presents the preliminary work on prototype design and analysis of a three-finger underactuated robotic end effector with a breakaway clutch mechanism suitable for research in robot manipulation of objects for industrial and service applications. Kinematic models of the finger and the breakaway clutch mechanisms are analyzed aiming to define selection criteria of design parameters. Grasping performance of the end effector prototype manufactured with a 3D printing technology and off-the-shelf components is evaluated using simulation and experimental analyses. Comparison with widely applied available robotic end effectors shows the potential advantages of the proposed end effector design.

Cite this article as:
K. Telegenov, Y. Tlegenov, S. Hussain, and A. Shintemirov, “Preliminary Design of a Three-Finger Underactuated Adaptive End Effector with a Breakaway Clutch Mechanism,” J. Robot. Mechatron., Vol.27, No.5, pp. 496-503, 2015.
Data files:
References
  1. [1] S. Jacobsen, E. Iversen, D. Knutti, R. Johnson, and K. Biggers, “Design of the Utah/M.I.T. Dextrous Hand,” Proc. of the 1986 IEEE Int. Conf. on Robotics and Automation, pp. 1520-1532, 1986.
  2. [2] M. Baril, T. Laliberte, C. Gosselin, and F. Routhier, “On the Design of a Mechanically Programmable Underactuated Anthropomorphic Prosthetic Gripper,” ASME J. of Mechanical Design, Vol.135, No.12, p. 121008, 2013.
  3. [3] T. Laliberte, L. Birglen, and C. Gosselin, “Underactuation in robotic grasping hands, Machine Intelligence & Robotic Control,” Vol.4, No.3, pp. 1-11, 2002.
  4. [4] Y. Ando, “Microgripper,” J. of Robotics and Mechatronics, Vol.2, No.3, pp. 214-216, 1990.
  5. [5] F. Chen, K. Sekiyama, B. Sun, P. Di, J. Huang, H. Sasaki, and T. Fukuda, “Design and Application of an Intelligent Robotic Gripper for Accurate and Tolerant Electronic Connector Mating,” J. of Robotics and Mechatronics, Vol.24, No.3, pp. 441-451, 2012.
  6. [6] S. Bachche and K. Oka, “Design, Modeling and Performance Testing of End-Effector for Sweet Pepper Harvesting Robot Hand,” J. of Robotics and Mechatronics, Vol.25, No.4, pp. 705-717, 2013.
  7. [7] G. Figliolini and M. Sorli, “Open-Loop Force Control of a Three-Finger Gripper Through PWM Modulated Pneumatic Digital Valves,” J. of Robotics and Mechatronics, Vol.12, No.4, pp. 480-493, 2000.
  8. [8] A. Namiki, Y. Imai, M. Kaneko, and M. Ishikawa, “Development of a High-Speed Multifingered Hand System,” Proc. of the 2003 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2666-2671, 2004.
  9. [9] W. Townsend, “The Barret Hand grasper - programmably flexible part handling and assembly,” Industrial Robot, Vol.27, pp. 181-188, 2000.
  10. [10] L. U. Odhner et al., “A compliant, underactuated hand for robust manipulation,” Int. J. of Robotics Research, Vol.33, No.5, pp. 736-752, 2014.
  11. [11] S. J. Bartholet, “Reconfigurable end effector,” U.S. Patent No:5108140, 1992.
  12. [12] C. Gosselin, “Adaptive Robotic Mechanical Systems: A Design Paradigm,” ASME J. of Mechanical Design, Vol.128, No.1, pp. 192-198, 2005.
  13. [13] C. Beyer, “Strategic implications of current trends in additive manufacturing,” ASME J. of Manufacturing Science and Engineering, Vol.136, No.6, p. 064701, 2014.
  14. [14] R. R. Ma, L. U. Odhner, and A. M. Dollar, “A modular, open-source 3D printed underactuated hand,” Proc. of the 2013 IEEE Int. Conf. on Robotics and Automation, pp. 2737-2743, 2013.
  15. [15] Z. Kappassov, Y. Khassanov, A. Saudabayev, A. Shintemirov, and H. A. Varol, “Semi-anthropomorphic 3D printed multigrasp hand for industrial and service robots,” Proc. of the 2013 IEEE Int. Conf. on Mechatronics and Automation, pp. 1697-1702, 2013.
  16. [16] Y. Tlegenov, K. Telegenov, and A. Shintemirov, “An open-source 3D printed underactuated robotic gripper,” Proc. of the 10th IEEE/ASME Int. Conf. on Mechatronic and Embedded Systems and Applications, pp. 1-6, 2014.
  17. [17] C. Chen, “Mechatronics Design of Multi-Finger Robot Hand,” 12th Int. Conf. on Control, Automation and Systems, pp. 1491-1496, 2012.
  18. [18] C. Liu, H. Qiao, J. Su, and P. Zhang, “Vision-based 3-D grasping of 3-D objects with a simple 2-D gripper,” IEEE Trans. on Systems, Man, and Cybernetics: Systems, Vol.44, pp. 605-620, 2014.
  19. [19] J. M. Romano, K. Hsiao, G. Niemeyer, S. Chitta, and K. J. Kuchenbecker, “Human-inspired robotic grasp control with tactile sensing,” IEEE Trans. on Robotics, Vol.27, pp. 1067-1079, 2011.
  20. [20] T. Laliberte and C. Gosselin, “Actuation system for highly underactuated gripping mechanism,” U.S. Patent No:6505870, 2003.
  21. [21] L. J. Caron and C. Deguire, “Mechanical Finger,” PCT Patent WO2010/142043 A1, 2010.
  22. [22] T. Laliberte and C. Gosselin, “Underactuation in space robotic hands,” Int. Symposium on Artificial Intelligence, Robotics and Automation in Space, pp. 18-21, 2001.
  23. [23] S. Montambault and C. Gosselin, “Analysis of Underactuated Mechanical Grippers,” ASME J. of Mechanical Design, Vol.123, No.3, pp. 367-374, 2001.
  24. [24] L. Birglen and C. Gosselin, “Geometric design of three-phalanx underactuated fingers,” ASME J. of Mechanical Design, Vol.128, No.2, pp. 356-364, 2005.
  25. [25] L. Birglen and C. Gosselin, “Kinetostatic analysis of underactuated fingers,” IEEE Trans. on Robotics and Automation, Vol.20, No.2, pp. 211-221, 2004.
  26. [26] I. A. Bonev, D. Zlatanov, and C. Gosselin, “Singularity Analysis of 3-DOF Planar Parallel Mechanisms via Screw Theory,” ASME J. of Mechanical Design, Vol.125, No.3, p. 537-581, 2003.
  27. [27] L. Birglen and C. Gosselin, “Force analysis of connected differential mechanisms: application to grasping,” Int. J of Robotics Research, Vol.25, No.10, pp. 1033-1046, 2006.
  28. [28] R. R. Ma, L. U. Odhner, and A. M. Dollar, “A modular, open-source 3D printed underactuated hand,” Proc. of the 2013 IEEE Int. Conf. on Robotics and Automation, pp. 2737-2743, 2013.
  29. [29] K. Telegenov, Y. Tlegenov, and A. Shintemirov, “An underactuated adaptive 3D printed robotic gripper,” Proc. of the 10th France-Japan/8th Europe-Asia Congress on Mechatronics, pp. 110-115, 2014.
  30. [30] N. T. Ulrich, “Methods and apparatus for mechanically intelligent grasping,” U.S. Patent No:4957320, 1990.
  31. [31] S. Hussain, Q. Xie, and P. K. Jamwal, “Control of a Robotic Orthosis for Gait Rehabilitation,” Robotics and Autonomous Systems, Vol.61. No.911-919, 2013.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, IE9,10,11, Opera.

Last updated on Nov. 12, 2018