Research Papers

Numerical Analysis of the Grasp Configuration of a Planar 3-DOF Linkage-Driven Underactuated Finger

[+] Author and Article Information
Hamed Khakpour

Ph.D. Student
e-mail: hamed.khakpour@polymtl.ca

Lionel Birglen

Associate Professor
e-mail: lionel.birglen@polymtl.ca
Mechanical Engineering Department,
Ecole Polytechnique of Montreal,
Quebec H3T 1J4, Canada

Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received February 28, 2012; final manuscript received July 27, 2012; published online August 31, 2012. Assoc. Editor: Parvis Nikravesh.

J. Comput. Nonlinear Dynam 8(2), 021010 (Aug 31, 2012) (8 pages) Paper No: CND-12-1041; doi: 10.1115/1.4007359 History: Received February 28, 2012; Revised July 27, 2012

This paper proposes a novel method to investigate the grasp sequence of an underactuated (a.k.a. adaptive) finger with three degrees of freedom but only one actuator and find its final configuration. This method considers the magnitude and the sign of the torques generated on the phalanges of the finger through the contact points. By using these torques as indices, the algorithm calculates the values of the joint angles during the grasping sequence until the finger reaches its final configuration. To illustrate the effectiveness of this method a class of a 3-DOF adaptive finger is chosen and analyzed and then, using the proposed methodology, its grasp configuration is calculated when grasping different fixed objects. Finally, simulations are repeated using a dynamic simulation package and the obtained results are compared to the proposed method. The results show that the method can properly estimate the final configuration of the grasp.

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Fig. 1

Typical closing motion of an underactuated finger with three phalanges

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Fig. 2

Schematic of a 3-DOF S-class underactuated finger

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Fig. 3

Definition of the conceptual four-bar linkage during the closing motion of (a) the first joint, (b) the second joint, and (c) the third joint; the lock symbol indicates a nonrotating joint

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Fig. 4

Flow chart of the proposed numerical method

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Fig. 5

Closing motion of the finger during test no. 1

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Fig. 6

Evolution of the joint angles during the closing motion of test no. 1

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Fig. 7

Oscillations of joint angles after reaching the final configuration in test no. 6

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Fig. 8

Final configuration of the finger during test no. 1 with the DSS

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Fig. 9

Joint angles of the finger during test no. 1 with the DSS




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