| 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 gripper for robotics, comprising:
a palm link, the palm link comprising a number of routing points; a first finger that comprises a plurality of first finger links and a plurality of first finger joints, the first finger links including at least a proximal first finger link and a distal first finger link, the first finger joints including at least a proximal first finger joint and a distal first finger joint, the proximal first finger joint which pivotally couples the proximal first finger link to the palm link, and the distal first finger joint which pivotally couples the distal first finger link to the proximal first finger link, the first finger including a plurality of first finger routing points, a first finger proximate mandrel and a first finger distal mandrel; a second finger that comprises a plurality of second finger links and a plurality of second finger joints, the second finger links including at least a proximal second finger link and a distal second finger link, the second finger joints including at least a proximal second finger joint and a distal second finger joint, the proximal second finger joint which pivotally couples the proximal second finger link to the palm link, and the distal second finger joint which pivotally couples the distal second finger link to the proximal second finger link, the second finger including a plurality of second finger routing points, a second finger proximate mandrel and a second finger distal mandrel; and a plurality of tendons, including for each of the fingers of the mechanical gripper, a respective flexor tendon and a respective extensor tendon that mechanically constrain respective gripping surfaces of the distal first finger link and the distal second finger link to remain in parallel with one another along a range of movement in a fingertip grip configuration in an absence of contact by either the proximal first finger link or the proximal second finger link with an object to be grasped, and in response to contact by either or both of the proximal first finger link or the proximal second finger link with the object to be grasped, passively rotate the distal first finger link and the distal second finger link toward one another in an enveloping grasp configuration. |
