In this paper we present a potential energy map based approach that provides a framework for the design and control of a robotic grasper. Unlike other potential energy map approaches, our framework is able to consider friction for a more realistic perspective on grasper performance. Our analysis establishes the importance of including variable geometry in a grasper design, namely with regards to palm width, link lengths, and transmission ratio. We demonstrate the use of this method specifically for a two-phalanx tendon-pulley underactuated grasper, and show how various design parameterspalm width, link lengths, and transmission ratios -impact the grasping and manipulation performance of a specific design across a range of object sizes and friction coefficients. Optimal grasping designs have palms that scale with object size, and transmission ratios that scale with the coefficient of friction. Using a custom manipulation metric we compared a grasper that only dynamically varied its geometry to a grasper with a variable palm and distinct actuation commands. The analysis revealed the advantage of the compliant reconfiguration ability intrinsic to underactuated mechanisms; by varying only the geometry of the grasper, manipulation of a wide range of objects could be performed.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.