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Grasp Force Analysis of Four-finger Tendon Actuated Robotic Hand

Authors:

Sudipto MukherjeeAuthors Info & Claims

AIR '19: Proceedings of the 2019 4th International Conference on Advances in Robotics

Article No.: 8, Pages 1 - 5

https://doi.org/10.1145/3352593.3352602

Published: 27 January 2020 Publication History

Abstract

Multi-finger robotic hands are designed to perform secure and stable grasping of different objects similar to human hands. It is always desirable to evaluate the grasp capabilities of any robotic hand in order to check its performance. This paper discusses about the grasp capability analysis of the four-finger tendon actuated robotic hand. For this purpose the mathematical model for cylindrical shaped objects is developed. These mathematical equations help in calculating the contact forces of every phalange of the finger on the surface of the grasped object. In this process tendon tensions and contact forces are determined theoretically for the finger and thumb separately while grasping objects of different size, weights and materials from the derived equations. Lastly, the obtained results are experimentally validated by carrying out the grasp analysis of cylindrical objects of varying diameters and materials by the four-finger tendon actuated robotic hand. Tendon tensions obtained experimentally are compared with those calculated from the derived equations and various conclusions are drawn based on the obtained results.

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Cited By

Mukherjee SMahapatra AKumar AChatterjee A(2021)Study of grasp-energy based optimal distribution of contact forces on a humanoid robotic hand during object graspRobotica10.1017/S026357472100123540:5(1501-1526)Online publication date: 6-Sep-2021
https://doi.org/10.1017/S0263574721001235
Neha EShrivastava Y(2021)Analysis of manipulability for a robotic hand using statistical approachMaterials Today: Proceedings10.1016/j.matpr.2020.11.39743(164-168)Online publication date: 2021
https://doi.org/10.1016/j.matpr.2020.11.397

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cover image ACM Other conferences

AIR '19: Proceedings of the 2019 4th International Conference on Advances in Robotics

July 2019

423 pages

ISBN:9781450366502

DOI:10.1145/3352593

Copyright © 2019 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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IITM: Indian Institute of Technology, Madras

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 27 January 2020

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AIR 2019

AIR 2019: Advances in Robotics 2019

July 2 - 6, 2019

Chennai, India

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AIR '19 Paper Acceptance Rate 69 of 140 submissions, 49%;

Overall Acceptance Rate 69 of 140 submissions, 49%

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Cited By

Mukherjee SMahapatra AKumar AChatterjee A(2021)Study of grasp-energy based optimal distribution of contact forces on a humanoid robotic hand during object graspRobotica10.1017/S026357472100123540:5(1501-1526)Online publication date: 6-Sep-2021
https://doi.org/10.1017/S0263574721001235
Neha EShrivastava Y(2021)Analysis of manipulability for a robotic hand using statistical approachMaterials Today: Proceedings10.1016/j.matpr.2020.11.39743(164-168)Online publication date: 2021
https://doi.org/10.1016/j.matpr.2020.11.397

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