Due to their inherent adaptability, underactuated grippers have seen increasing applications in robotic grasping and prostheses. However, the analysis of the underactuated grasping process remains a challenge. This work introduces a novel framework for determining the configuration and the relevant forces of underactuated grippers. Our framework explicitly maps the contact forces into Lagrange multipliers, upon expressing the constraint equations in a suitable format. Lagrange multipliers allow the kinetostatic-constraint equations for the gripper backbone to be derived exclusively from the kinematic-constraint equations. Four selection matrices couple the arrays of unknown variables and the kinetostatic-governing equations for various contact cases to the full array of unknown variables and the full kinetostatic-governing equations, respectively, thereby obviating the re-derivation of the governing equations. A case study is included for the validation of the formulation.
|Number of pages||13|
|Journal||Mechanism and Machine Theory|
|Publication status||Published - Apr 2023|
- Constraint analysis
- Lagrange multipliers
- Underactuated system