Grasp-state plane analysis of two-phalanx underactuated fingers

Birglen, Lionel; Gosselin, Clément

doi:10.1016/j.mechmachtheory.2005.10.004

Cited by 49 publications

(23 citation statements)

References 18 publications

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“…is the lower triangular matrix describe jacobian matrix for three phalanx robotic finger considering the friction between the contact points and the object in to the account that can be written as [10]:…”

Section: Mechanism Of Robotic Fingermentioning

confidence: 99%

The Mechanism Analysis of Underactuated Robotic Finger for Optimum Grasping Using Gradient Descent Method

Bakhy

Flaieh

Jabbar

2018

NJES

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This study was devoted in investigating the optimum geometric parameters for underactuated linkage three phalanges robotic finger. New kinematic and kinetic equations of grasping were derived in this research taking into account the angle for the ternary solid links of the four-bar linkages. To obtain the target of optimization, a gradient descent method was used which consists of three stages to find the optimal geometric parameters with high accuracy. Five criteria were selected to find the optimal solution by using multi objectives function algorithm, these are percentage of the grasping stability, the grasp forces, squeezing force, Mimic function for grasping task, and transmission angle for grasping operation. Gradient descent method starts by detecting the optimal geometric parameters for each criterion and choosing the best geometric parameters from the five criteria functions. At the optimum solution, the underactuated robotic finger prototype was built from hard Polylactic acid (PLA) plastic using rapid prototyping and was tested performance by grasping objects. Finally, the results have been shown that the robotic finger adapts to the wanted configurations.

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Section: Mechanism Of Robotic Fingermentioning

confidence: 99%

The Mechanism Analysis of Underactuated Robotic Finger for Optimum Grasping Using Gradient Descent Method

Bakhy

Flaieh

Jabbar

2018

NJES

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“…If this is not the case, contact with the whole line will be lost and a sliding motion of the finger in contact with only one vertex of the object will occur. This contact situation can lead to either a stable grasp or ejection (Birglen and Gosselin, 2006b). It should be noted that the parallelogram linkages proposed in Fig.…”

Section: Pinch Preshapingmentioning

confidence: 99%

“…The equilibrium equation of the finger discussed here is is critical with respect to the grasp stability of a linear contact. It has also been demonstrated in Birglen and Gosselin (2006b) that a linear contact with the distal phalanx of a twophalanx self-adaptive finger is stable if and only if the location of the equilibrium position is located between both vertices of the line (cf. Fig.…”

Section: Pinch Preshapingmentioning

confidence: 99%

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

Birglen

2011

Mech. Sci.

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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.

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“…A particular design of underactuated finger will be simplified version of the finger that was used in the Mars and Sarah M1 prototypes [12] . Figure 4 shows the tow models.…”

Section: Static Equilibriummentioning

confidence: 99%

Geometric Optimization of Three-Phalanx Prosthesis Underactuated Fingers using Particles Swarm Algorithm

Nacy¹,

Hassan²,

Bakhy³

2009

American J. of Engineering and Applied Sciences

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Problem statement: One are now interested to investigate the optimum design procedure for a finger driving mechanism to have a good configuration of the finger for its utilization in hand prosthesis. A Geometric Optimization of Three-Phalanx Prosthesis Underactuated Fingers (TPPUF) based on a Particle Swarm Optimization (PSO) was presented. Approach: Firstly, a numerical evaluation of the human-like motion was obtained by using an anthropomorphic finger mechanism. Secondly, the dimensional design of a finger driving mechanism had been formulated as a multiobjective optimization problem by using evaluation criteria for fundamental characteristics that were associated with finger motion, grasping equilibrium and force transmission. Results: Testing results indicated that the proposed PSO gives high-quality result and shorter computation time compared with genetic algorithm. Conclusion: Using the PSO Algorithm with the Matlab-software, it is possible to identify all the necessary parameters of the mathematical models.

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Grasp-state plane analysis of two-phalanx underactuated fingers

Cited by 49 publications

References 18 publications

The Mechanism Analysis of Underactuated Robotic Finger for Optimum Grasping Using Gradient Descent Method

The Mechanism Analysis of Underactuated Robotic Finger for Optimum Grasping Using Gradient Descent Method

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

Geometric Optimization of Three-Phalanx Prosthesis Underactuated Fingers using Particles Swarm Algorithm

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