Most of the robotic hands reported in literature present a configuration with a rigid palm which limits the ability of the devices to carry out certain movements and to adapt the grasping to the size and shape of the manipulated objects. This paper presents a novel design of a mechanism for robotic finger and movable palm configuration. The system is composed by the movable palm and one finger and the device is driven by an underactuated mechanism in order to use only one actuator for the palm and finger movements. The aim of the proposed mechanism is to provide the robotic hand with the capability to adapt the grasp configuration according to the size and shape of the manipulated objects and to avoid the increase of the number of actuators. A description of the proposed mechanism is presented and numerical simulations are carried out for mobility validation and design characterization. A prototype is built and the obtained experimental results prove the ability of the hand to grasp objects with different shape and sizes by exerting of adequate grasping force. © 2019, Levrotto and Bella. All rights reserved.
Design and experimental characterization of a novel subactuated mechanism for robotic finger and movable palm
Carbone Giuseppe;
2019-01-01
Abstract
Most of the robotic hands reported in literature present a configuration with a rigid palm which limits the ability of the devices to carry out certain movements and to adapt the grasping to the size and shape of the manipulated objects. This paper presents a novel design of a mechanism for robotic finger and movable palm configuration. The system is composed by the movable palm and one finger and the device is driven by an underactuated mechanism in order to use only one actuator for the palm and finger movements. The aim of the proposed mechanism is to provide the robotic hand with the capability to adapt the grasp configuration according to the size and shape of the manipulated objects and to avoid the increase of the number of actuators. A description of the proposed mechanism is presented and numerical simulations are carried out for mobility validation and design characterization. A prototype is built and the obtained experimental results prove the ability of the hand to grasp objects with different shape and sizes by exerting of adequate grasping force. © 2019, Levrotto and Bella. All rights reserved.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
