Type synthesis of linkage-driven self-adaptive fingers

Journal of Mechanisms and Robotics

Volumn 1, Issue 2, 2009, Pages 1-9

  Birglen, Lionel ^a  

^a ÉCOLE POLYTECHNIQUE DE MONTRÉAL   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

DIGITAL SYSTEM; MECHANICAL ARCHITECTURE; PASSIVE ELEMENTS; RESEARCH COMMUNITIES; ROBOTIC FINGER; ROBOTIC HANDS; SELF-ADAPTIVE; TYPE SYNTHESIS;

END EFFECTORS; ROBOTIC ARMS;

ROBOTICS;

EID: 78651593692     PISSN: 19424302     EISSN: 19424310     Source Type: Journal    
DOI: 10.1115/1.3046139     Document Type: Article

References (23)

1. Salisbury, J. K., and Craig, J. J., 1982, "Articulated Hands: Force Control and Kinematic Issues," Int. J. Robot. Res., 11, pp.4-17.
2. Jacobsen, S. C., Iversen, E. K., Knutti, D. F., Johnson, R. T., and Biggers, K. B., 1986, "Design of the Utah/MIT Dextrous Hand," Proceedings of the 1986 IEEE International Conference on Robotics and Automation, San Francisco, CA, pp. 1520-1532.
3. Butterfass, J., Grebenstein, M., Liu, H., and Hirzinger, G., 2001, "DLR-Hand II: Next Generation of a Dextrous Robot Hand," Proceedings of the 2001 IEEE International Conference on Robotics and Automation, South Korea, Seoul, May 21-26, pp. 109-114.
4. Hirose, S., and Umetani, Y., 1978, "The Development of Soft Gripper for the Versatile Robot Hand," Mech. Mach. Theory, 13, pp. 351-358.
5. Crisman, J. D., Kanojia, C., and Zeid, I., 1996, "Graspar: A Flexible, Easily Controllable Robotic Hand," IEEE Rob. Autom. Mag., 3 2, pp. 32-38.
6. Massa, B., Roccella, S., Carrozza, M. C., and Dario, P., 2002, "Design and Development of an Underactuated Prosthetic Hand," Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Washington, DC, May, pp. 3374-3379.
7. Higashimori, M., Kaneko, M., Namiki, A., and Ishikawa, M., 2005, "Design of the 100G Capturing Robot Based on Dynamic Preshaping," Int. J. Robot. Res., 249, pp. 743-753.
8. Shimojima, H., Yamamoto, K., and Kawakita, K., 1987, "A Study of Grippers With Multiple Degrees of Mobility," JSME Int. J., 30261, pp. 515-522.
9. Bekey, G. A., Tomovic, R., and Zeljkovic, I., 1999, Control Architecture for the Belgrade/USC Hand in Dextrous Robot Hands, Springer-Verlag, New York.
10. Ulrich, N. T., 1988, "Methods and Apparatus for Mechanically Intelligent Grasping," U.S. Patent No. 4,957,320.
11. Laliberté, T., and Gosselin, C., 1998, "Simulation and Design of Underactuated Mechanical Hands," Mech. Mach. Theory, 33 1-2, pp. 39-57.
12. Kennedy, B., 2001, "Three-Fingered Robot Hand With Self-Adjusting Grip," Nasa Tech Briefs, 25 12, p. 59.
13. Birglen, L., and Gosselin, C., 2004, "Kinetostatic Analysis of Underactuated Fingers," IEEE Trans. Rob. Autom., 20 2, pp. 211-221.
14. Gosselin, C., 2006, "Adaptive Robotic Mechanical Systems: A Design Paradigm," ASME J. Mech. Des., 128 1, pp. 192-198.
15. Hirose, S., 1985, "Connected Differential Mechanism and Its Applications," Proceedings of 1985 International Conference on Advanced Robotics, Tokyo, Japan, Sept., pp. 319-325.
16. Birglen, L., and Gosselin, C., 2006, "Grasp-State Plane Analysis of Two Phalanx Underactuated Fingers," Mech. Mach. Theory, 41 7, pp. 807-822.
17. Birglen, L., Laliberté, T., and Gosselin, C., 2008, Underactuated Robotic Hands, Springer, Berlin.
18. Itoh, H., 1975, "Mechanical Hand," U.S. Patent No. 3,927,424.
19. Gosselin, C., and Laliberté, T., 1996, "Underactuated Mechanical Finger With Return Actuation," U.S. Patent No. 5,762,390.
20. Dubey, V. N., and Crowder, R. M., 2002, "A Finger Mechanism for Adaptive End Effectors," Proceedings of 2002 ASME Design Engineering Technical Conferences, Montreal, Canada, Sept. 29-Oct. 2.
21. Ulrich, N. T., 1988, "Grasping With Mechanical Intelligence," Ph.D. thesis, University of Pennsylvania, Philadelphia.
22. Mason, M. T., and Salisbury, J. K., 1985, Robot Hands and the Mechanics of Manipulation, MIT, Cambridge, MA.
23. Birglen, L., 2004, "Analysis and Control of Underactuated Robotic Hands," Ph.D. thesis, Faculté des sciences et de génie, Université Laval, Québec.