The design of multi-fingered robotic hands can follow a kinematic synthesis approach, in which a trajectory or set of points and higher derivatives are defined for each fingertip. The output of the dimensional synthesis is a set of joint axes, effectively defining the basic kinematic structure of the hand. In the case of spatial motion, there seems to be a big gap between the results of the dimensional synthesis and a real and effective detailed design of the robotic hand, this being one of the reasons why synthesis is not regularly used in the design of robotic hands. This work aims to reduce the gap from kinematic synthesis to detailed, computer-aided design of robotic hands. In order to do so, the output of the dimensional synthesis is first used as the input of a link-based optimization process, aim to bring to reasonable values requirements such as link lengths, internal friction forces and obstacle avoidance, including self-intersection. The optimized results are automatically imported to a popular solid modeling software, creating reference geometry for parts, and joint axes and anchor points for the final hand assembly. At the same time, a database of hand parts is presented to the user to select and adapt in order to create a first realistic assembly of the robotic hand. The output of the process is a first detailed design of the robotic hand, which can be a good starting point for the designer to implement transmission and actuation in further stages.
Some robotic tasks, especially those in which there are interactions between manipulated objects, require the collaborative work of two robotic arms equipped with end-effector grippers or robotic hands. Most of the current applications in which a bimanual task is attempted by a robot use two robot arm manipulators with simple grippers, in which the end-effectors are used for grasping and the remaining motion is performed by the robotic arms. In this work, we propose the design of a highly dexterous multi-fingered robotic hand, able to perform the bimanual task when attached to a simple arm manipulator. Dexterous robotic hands can be designed with more than one splitting stage; their design for a task can be done using kinematic synthesis for tree topologies. The synthesis process is applied in this case to the design of a robotic hand with three palms for a bimanual task consisting of assembling an emergency stop button.
Kinematic synthesis applied to tree topologies is a tool for the design of multi-fingered robotic hands, for a simultaneous task of all fingertips. Dexterous multi-fingered robotic hands can be designed to perform collaborative tasks that are traditionally performed by more than one robotic manipulator. Such collaborative tasks require multiple robotic arms and a method to control their coordinate operation. In this work, the synthesis process for the design of a single robotic hand for a bimanual task is discussed, with application to the task of holding and peeling an orange.
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