Kinetic and dimensional optimization for a tendon-driven gripper

摘要

A tendon-driven robotic gripper is disclosed for performing fingertip and enveloping grasps. One embodiment comprises two fingers, each with two links, and is actuated using a single active tendon. During unobstructed closing, the distal links remain parallel, creating exact fingertip grasps. Conversely, if the proximal links are stopped by contact with an object, the distal links start flexing, creating a stable enveloping grasp. The route of the active tendon and the parameters of the springs providing passive extension forces are optimized in order to achieve this behavior. An additional passive tendon is disclosed that may be used as a constraint preventing the gripper from entering undesirable parts of the joint workspace. A method for optimizing the dimensions of the links in order to achieve enveloping grasps of a large range of objects is disclosed and applied to a set of common household objects.

主权项

1. A mechanical end effector for robotics, comprising: a palm;
a first proximal finger element, wherein the first proximal finger element is pivotally coupled to the palm at a first proximal joint; a first distal finger element, wherein the first distal finger element is pivotally coupled to the first proximal finger element at a first distal joint; a second proximal finger element, wherein the second proximal finger element is pivotally coupled to the palm at a second proximal joint; a second distal finger element, wherein the second distal finger element is pivotally coupled to the second proximal finger element at a second distal joint; a first passive tendon coupled to the palm and coupled to the first distal finger element, wherein the palm, the first proximal finger element, the first distal finger element, and the first passive tendon act as a first four-bar linkage to prevent hyperextension of the first distal joint when the first passive tendon carries tension; a second passive tendon coupled to the palm and coupled to the second distal finger element, wherein the palm, the second proximal finger element, the second distal finger element, and the second passive tendon act as a second four-bar linkage to prevent hyperextension of the second distal joint when the second passive tendon carries tension; a first active tendon coupled to the first distal finger element; and a second active tendon coupled to the second distal finger element.