The compliance of robotic hands – from functionality to mechanism

Abstract

2015),"Design of a novel dexterous robotic gripper for in-hand twisting and positioning within assembly automation", Assembly Automation, Vol. 35 Iss 3 pp. 259-268 http://dx.If you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. AbstractPurpose -The purpose of this paper is to introduce the physical structure and the control mechanism of human motor nervous system to the robotic system in a tentative manner to improve the compliance/flexibility/versatility of the robot. Design/methodology/approach -A brief review is focused on the concept of compliance, the compliance-based methods and the application of some compliance-based devices. Combined with the research on the physical structure and the control mechanism of human motor nervous system, a new drive structure and control method is proposed. Findings -Introducing the physical structure and the control mechanism of human motor nervous system can improve the compliance/flexibility/ versatility of the robot, without bringing in more complexity or inefficiency to the system, which helps in the assembly automation tasks. Originality/value -The proposed drive structure and control method are useful to build up a novel, low-cost robotic assembly automation system, which is easy to interact and cooperate with humans.

A two‐step method for 4‐pin form‐closure gripper with grasping force optimization

“…Therefore, in this work, the partial form closure constraining the grasping points in a plane is considered, and the definition of the planar form closure is adopted. This process is similar to humans grasping of objects needing post-grasp manipulation [24], but it also confines the range of objects applicable to the proposed method. In this study, the objects are treated as rigid bodies with finite planes on the surface.…”

Stability control for end effect of mobile manipulator in uneven terrain based on active disturbance rejection control

“…Control problems for the mobile manipulator systems have been extensively investigated in recent years (Li et al, 2015;Logothetis et al, 2018;Huang et al, 2020a;Peng et al, 2020a). However, the stability control of the mobile manipulator mainly focuses on the following three types, including the stability control of the mobile platform, the whole robot's stability and decreasing the vibration of the manipulator by passive approach.…”

Robust task-space tracking for free-floating space manipulators by cerebellar model articulation controller

“…However, it should be pointed out that these methods still remain certain timeconsuming drawbacks during the training processes, which limits the practical applications in control problems. Note that bio-inspired methods have been approved to be effective for solving the manipulation problems of complex and nonlinear systems (Qiao et al, 2016;Li et al, 2015). One of these methods has been first proposed by Albus (1975), which is the novel cerebellar model articulation controller (CMAC).…”