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The kinematic preshaping of triggered self-adaptive linkage-driven robotic fingers

Birglen, L (2011) The kinematic preshaping of triggered self-adaptive linkage-driven robotic fingers. In: IFToMM/ASME International Workshop, 19 August 2010, Montréal, Canada.

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    In this paper, the issue of the kinematic – as opposed to dynamic – preshaping of self-adaptive robotic fingers driven by linkages is discussed. A method to obtain designs of these fingers capable of various behaviours during their closing motions is presented. The method is based on using triggered passive elements in carefully selected joints of the finger and the selection or optimization of geometric parameters to obtain particular kinematic relationships between the motions of the phalanges. This method is very general and can be applied to any self-adaptive robotic finger in order to obtain many different types of closing motions. Examples given in this paper are focusing on two different preshaping motions, the first one aims at allowing pinch grasps while the second mimics a human finger. The fundamental aim of this paper is to show that various preshapings of self-adaptive fingers are possible, not just one, and to give two step-by-step examples.

    Type du document: Conference or Workshop Item (Paper)
    Sujets: Articles > Sciences de la santé
    Divisions: UNSPECIFIED
    Déposé par: Editeur UVT
    Date de dépôt: 06 Apr 2011 13:33
    Dernière modification: 06 Apr 2011 13:33

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