TY - JOUR
T1 - A novel framework for the analysis of underactuated fingers
AU - Liu, S.
AU - Chen, C.
AU - Angeles, J.
N1 - Funding Information:
This project is funded by 2019 IMPACT Philanthropy Program ( IPAP2019/0992 ). The authors thank Messrs. Aarjav Khara, Charles Troeung and Hugh Zhou, Laboratory of Motion Generation and Analysis, for their suggestions in both the derivation of the framework and improving the quality of the manuscript.
Publisher Copyright:
© 2023 Elsevier Ltd
PY - 2023/4
Y1 - 2023/4
N2 - 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.
AB - 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.
KW - Constraint analysis
KW - Gripper
KW - Lagrange multipliers
KW - Underactuated system
UR - http://www.scopus.com/inward/record.url?scp=85146246757&partnerID=8YFLogxK
U2 - 10.1016/j.mechmachtheory.2023.105238
DO - 10.1016/j.mechmachtheory.2023.105238
M3 - Article
AN - SCOPUS:85146246757
SN - 0094-114X
VL - 182
JO - Mechanism and Machine Theory
JF - Mechanism and Machine Theory
M1 - 105238
ER -