A Bistable Underactuated Finger with Reconfigurable Grasping Modes

This paper presents a bistable finger design for grasping, with the bistability property lending itself to reconfiguration from a preferred pinch grasp to a preferred power (enveloping) grasp. This allows selective triggering of the transition between these two grasp types to prevent loss of stable grasp. Design, analysis, simulation, and prototyping of the grasping mechanism are presented.

[1]  Aaron M. Dollar,et al.  M2 Gripper: Extending the Dexterity of a Simple, Underactuated Gripper , 2016 .

[2]  Clément Gosselin,et al.  Underactuated Robotic Hands , 2008, Springer Tracts in Advanced Robotics.

[3]  Hamilton Horth Mabie,et al.  Mechanisms and Dynamics of Machinery , 1963 .

[4]  Dung-An Wang,et al.  A gripper based on a compliant bitable mechanism for gripping and active release of objects , 2016, 2016 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS).

[5]  Hong Liu,et al.  DLR-Hand II: next generation of a dextrous robot hand , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[6]  Youlun Xiong,et al.  Fundamentals of robotic grasping and fixturing , 2007 .

[7]  Jim Euchner.  Design , 2014, Catalysis from A to Z.

[8]  S. Naumann,et al.  Multiple finger, passive adaptive grasp prosthetic hand , 2001 .