The Optimization of Grasping Ability for Three-Fingered Flexible Fixture

Abstract:

By means of analyzing the structure kinematic of the three-fingered flexible fixture, the optimization method of the grasping ability of the flexible fixture was proposed. The best configuration was attained on the basis of expressing the contact force as a general solution. And then, the grasping force was optimized by converting it into the optimization of grasping torque. Not only was the optimization of the grasping ability realized, but also the relative carrying capacity of the fixture was improved. The feasibility of the method was verified by calculating the example. This method provides theory basises for the further research on the intelligence control of this sort of flexible fixture.

• Periodical: Advanced Materials Research (Volumes 538-541)
• Pages: 2829-2833
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.538-541.2829
• Online since: June 2012
• Authors: Bin Li, Shi Rong Yin, Tian Hong Luo, De Shan Li
• Keywords: Flexible Fixture, Joint Torque, Optimization

References

[1] LI Jian-feng, ZHANG Yu-ru, WANG Xin-hua, et al. Robustness analysis and determination of stability load domain of multi-fingered hand power grasps [J]. China Mechanical Engineering, 2004, 15(7): 628-631.

[2] Al-Gallaf E A. Multi-fingered robot hand optimal task force distribution Neural inverse kinematics approach [J].Robotics and Autonomous Systems, 2006, 54(1): 34-51.

DOI: 10.1016/j.robot.2005.09.016

[3] ZHENG Yu, QIAN Wen-han. Limiting and minimizing the contact forces in multifingered grasping [J]. Mechanism and Machine Theory, 2006, 41(10): 1243-1257.

DOI: 10.1016/j.mechmachtheory.2005.11.001

[4] Nahavandi S, Jashim U M, Saadat M, et al. Heavy tools manipulation by low powered direct-drive five-bar parallel robot[J]. Mechanism and Machine Theory, 2007, 43(11):1450-1461.

DOI: 10.1016/j.mechmachtheory.2007.11.004

[5] Lalibert T, Gosselin C M. Simulation and design of underactuated mechanical hands [J]. Mechanism and MachineTheory, 2008, 33(1/2): 39-57.

[6] Melchiorri C. Multiple whole-limb manipulation: An analysis in the force domain[J]. Robotics and Aulonomous Systems, 2007, 20(1): 15-38.

DOI: 10.1016/s0921-8890(96)00027-9

[7] MENG Xian-guo, FENG Chang-ru. Jig jaw clamping force and cylinder clamping capacity calculation for forging manipulator [J]. CFHI Technology, 2006(2): 1-3.

[8] ZHU Xiao-cai, DONG Guo-hua, CAI Zi-xing, et al. Robust simultaneous tracking and abilization of wheeled mobile robots not satisfying nonholonomic constraint [J]. Journal of Central South University of Technology, 2007, 14(4): 537-545.

DOI: 10.1007/s11771-007-0104-2