Abstract
This paper describes the application of our theory for kinematic synthesis of articulated systems with contact task specifications to the simultaneous synthesis of mechanical fingers for coordinated movements. The contact direction and curvature constraints between the fingers and a body are transformed into conditions on the velocity and acceleration of certain points using the task geometry. The addition of requirements on the accelerations allows for a more accurate definition of the tasks in the vicinity of the specified positions, thus considering the local motions of the fingertips and a grasped object and accounts for the smoothness of motion on the design level. The position and higher order motion specifications provide position, velocity and acceleration synthesis equations, which can be solved in order for the fingers to obtain the desired coordinated task. It should be noted that the use of kinematic synthesis as a first step in the design of the multi-fingered robotic hands has been applied to individual fingers, however a technique for doing this simultaneously for multiple fingers does not exist.
Original language | English |
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Title of host publication | 2015 IFToMM World Congress Proceedings, IFToMM 2015 |
Publisher | National Taiwan University |
ISBN (Electronic) | 9789860460988 |
DOIs | |
State | Published - 2015 |
Externally published | Yes |
Event | 14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015 - Taipei, Taiwan, Province of China Duration: Oct 25 2015 → Oct 30 2015 |
Publication series
Name | 2015 IFToMM World Congress Proceedings, IFToMM 2015 |
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Conference
Conference | 14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015 |
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Country/Territory | Taiwan, Province of China |
City | Taipei |
Period | 10/25/15 → 10/30/15 |
Funding
The authors gratefully acknowledge the support of NSF Grant, award Id: IIS-1208412, sub-award Id: 2013-2908.