基于最小摩擦系数的三指变形手精密操纵工作空间分析

IF 2.2 4区 计算机科学 Q2 ENGINEERING, MECHANICAL Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-03-30 DOI:10.1115/1.4062238
Yen-hua Lin, Tun Wang, Emmanouil Spyrakos-Papastavridis, Fu Zhongtao, Shuang J. Xu, J. Dai
{"title":"基于最小摩擦系数的三指变形手精密操纵工作空间分析","authors":"Yen-hua Lin, Tun Wang, Emmanouil Spyrakos-Papastavridis, Fu Zhongtao, Shuang J. Xu, J. Dai","doi":"10.1115/1.4062238","DOIUrl":null,"url":null,"abstract":"\n Reconfigurable robotic hands can constitute one of the future trends of dexterous manipulator design, as they can strike a balance between precision, force exertion, flexibility, and adaptability. However, the feasible manipulation workspace of a reconfigurable robotic hand, the metamorphic hand, is complex as the finger operation planes alter with the reconfigurable palm's motions. Different useful workspace approaches and grasp quality metrics have been introduced, but a precision manipulation workspace (PMW) approach for reconfigurable robotic hands has yet to be presented. This paper presents a hand workspace taxonomy based on previous studies, and a new approach to obtaining a PMW of a robotic hand which satisfies three properties: singularity avoidance, interference avoidance, and force-closure. A grasp quality metric, termed the minimum friction coefficient (MFC), is introduced to indicate the force-closure conditions of a robotic hand's configurations. Unlike the previous grasp quality metrics targeting online grasp planning tasks, this MFC-based measure focuses on the offline design of robotic hands. This method is essential for conducting grasp planning, design optimization, and actuation reduction for reconfigurable robotic hands. Further, the approach is applied to a three-fingered metamorphic hand, and the results are studied thoroughly.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":"1 1","pages":""},"PeriodicalIF":2.2000,"publicationDate":"2023-03-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Minimum Friction Coefficient-based Precision Manipulation Workspace Analysis of the Three-fingered Metamorphic Hand\",\"authors\":\"Yen-hua Lin, Tun Wang, Emmanouil Spyrakos-Papastavridis, Fu Zhongtao, Shuang J. Xu, J. Dai\",\"doi\":\"10.1115/1.4062238\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"\\n Reconfigurable robotic hands can constitute one of the future trends of dexterous manipulator design, as they can strike a balance between precision, force exertion, flexibility, and adaptability. However, the feasible manipulation workspace of a reconfigurable robotic hand, the metamorphic hand, is complex as the finger operation planes alter with the reconfigurable palm's motions. Different useful workspace approaches and grasp quality metrics have been introduced, but a precision manipulation workspace (PMW) approach for reconfigurable robotic hands has yet to be presented. This paper presents a hand workspace taxonomy based on previous studies, and a new approach to obtaining a PMW of a robotic hand which satisfies three properties: singularity avoidance, interference avoidance, and force-closure. A grasp quality metric, termed the minimum friction coefficient (MFC), is introduced to indicate the force-closure conditions of a robotic hand's configurations. Unlike the previous grasp quality metrics targeting online grasp planning tasks, this MFC-based measure focuses on the offline design of robotic hands. This method is essential for conducting grasp planning, design optimization, and actuation reduction for reconfigurable robotic hands. Further, the approach is applied to a three-fingered metamorphic hand, and the results are studied thoroughly.\",\"PeriodicalId\":49155,\"journal\":{\"name\":\"Journal of Mechanisms and Robotics-Transactions of the Asme\",\"volume\":\"1 1\",\"pages\":\"\"},\"PeriodicalIF\":2.2000,\"publicationDate\":\"2023-03-30\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Mechanisms and Robotics-Transactions of the Asme\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://doi.org/10.1115/1.4062238\",\"RegionNum\":4,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"ENGINEERING, MECHANICAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Mechanisms and Robotics-Transactions of the Asme","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1115/1.4062238","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, MECHANICAL","Score":null,"Total":0}
引用次数: 0

摘要

可重构机械臂能够在精度、力、灵活性和适应性之间取得平衡,是未来灵巧机械臂设计的发展趋势之一。然而,可重构机械手(变形手)的可行操作工作空间是复杂的,因为手指操作平面随着可重构手掌的运动而改变。不同有用的工作空间方法和抓握质量度量已经被引入,但是用于可重构机械手的精确操作工作空间(PMW)方法尚未被提出。在前人研究的基础上,提出了一种手部工作空间的分类方法,并提出了一种新的方法来获得满足避免奇异性、避免干涉和闭合力三个特性的机械手的PMW。引入了一种称为最小摩擦系数(MFC)的抓取质量度量来表示机械人手结构的力闭合条件。与以往针对在线抓取规划任务的抓取质量度量不同,这种基于mfc的度量侧重于机器人手的离线设计。该方法对可重构机械手的抓握规划、设计优化和驱动减小具有重要意义。最后,将该方法应用于三指变质手,并对结果进行了深入的研究。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
Minimum Friction Coefficient-based Precision Manipulation Workspace Analysis of the Three-fingered Metamorphic Hand
Reconfigurable robotic hands can constitute one of the future trends of dexterous manipulator design, as they can strike a balance between precision, force exertion, flexibility, and adaptability. However, the feasible manipulation workspace of a reconfigurable robotic hand, the metamorphic hand, is complex as the finger operation planes alter with the reconfigurable palm's motions. Different useful workspace approaches and grasp quality metrics have been introduced, but a precision manipulation workspace (PMW) approach for reconfigurable robotic hands has yet to be presented. This paper presents a hand workspace taxonomy based on previous studies, and a new approach to obtaining a PMW of a robotic hand which satisfies three properties: singularity avoidance, interference avoidance, and force-closure. A grasp quality metric, termed the minimum friction coefficient (MFC), is introduced to indicate the force-closure conditions of a robotic hand's configurations. Unlike the previous grasp quality metrics targeting online grasp planning tasks, this MFC-based measure focuses on the offline design of robotic hands. This method is essential for conducting grasp planning, design optimization, and actuation reduction for reconfigurable robotic hands. Further, the approach is applied to a three-fingered metamorphic hand, and the results are studied thoroughly.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
CiteScore
5.60
自引率
15.40%
发文量
131
审稿时长
4.5 months
期刊介绍: Fundamental theory, algorithms, design, manufacture, and experimental validation for mechanisms and robots; Theoretical and applied kinematics; Mechanism synthesis and design; Analysis and design of robot manipulators, hands and legs, soft robotics, compliant mechanisms, origami and folded robots, printed robots, and haptic devices; Novel fabrication; Actuation and control techniques for mechanisms and robotics; Bio-inspired approaches to mechanism and robot design; Mechanics and design of micro- and nano-scale devices.
期刊最新文献
On the Construction of Confidence Regions for Uncertain Planar Displacements. Redundant Serial Manipulator Inverse Position Kinematics and Dynamics Optimal Concentric Tube Robot Design for Safe Intracerebral Hemorrhage Removal Design and Analysis of a Novel Redundant Parallel Mechanism for Long Bone Fracture Reduction Design of a Novel Large-Stroke Compliant Constant-Torque Mechanism Based on Chained Beam-Constraint Model
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1