The Design and Kinematics Analysis of an Underactuated Cable-Truss Mechanism

Abstract:

Although underactuated mechanism has been widely studied in recent years, little information is available on that with cable-truss. An underactuated cable-truss mechanism was presented in this paper. This serial mechanism consists of five quadrilateral cable-truss units and moves by changing the length of the cables. It can be extended to large-scale spatial gripper and has advantages like light weight, simple structure and high reliability. This mechanism can capture the object without its precise position and shape. The kinematics analysis was discussed considering the characteristics of different ways to capture and a numerical example was given. The results of motion simulation corresponding with the example were shown to verify the correctness of the theoretical analysis.

• Periodical: Advanced Materials Research (Volumes 915-916)
• Pages: 256-263
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.915-916.256
• Online since: April 2014
• Authors: Nan Wu*, Rong Qiang Liu, Hong Wei Guo
• Keywords: Cable-Truss, Kinematics, Simulation, Underactuated Mechanism

References

[1] Massa B, S. Roccella, M.C. Carrozza, P. Dario. Design and Development of an Underactuated Prosthetic Grasper[C]/IEEE International Conference on Robotics and Automation. Washington, DC : IEEE, 2002: 3374-3379.

DOI: 10.1109/robot.2002.1014232

[2] Information on http: /www. barrett. com/robot/products-hand. htm[Z].

[3] Sung-Yoon Jung, Sung-kyun Kang, Myoung-Jun Lee and Inhyuk Moon. Design of Robotic Hand with Tendon-driven Three Fingers [C]/ International Conference on Control. Automation and Systems. Seoul, Korea: Dong-Eui University, 2007: 83-86.

DOI: 10.1109/iccas.2007.4406884

[4] Dollar A. M, Howe R.D. The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study [C] / Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics. The Netherlands: Noordwijk, 2007: 978-983.

DOI: 10.1109/icorr.2007.4428542

[5] Pouya Sabetian, Amir Feizollahi, Farzad Cheraghpour, S. Ali A. Moosavian. A Compound Robotic Hand with Two Under-actuated Fingers and a Continuous Finger[C] / Proceedings of the 2011 IEEE International Symposium on Safety, Security and Rescue Robotics. Kobe, Japan: K. N. Toosi University of Technology, 2011: 238-244.

DOI: 10.1109/ssrr.2011.6106774

[6] Shengqi Tan, Wenzeng Zhang, Qiang Chen, Dong Du. Design and Analysis of Underactuated Humanoid Robotic Hand Based on Slip Block-Cam Mechanism[C]/Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics. Guilin, China: IEEE, 2006: 2356-2361.

DOI: 10.1109/robio.2009.5420859

[7] Laliberte T, Gosselin C M. Simulation and design of underactuated mechanical graspers[J] . Mech. Mac. Theory, 1998: 33(l/2), 39-57.

[8] Gosselin C M, Laliberte T. Underactuated mechanical finger with return actuation[P]. US : 5762390, (1998).

[9] Laliberte T, Birglen L, Gosselin C M. Underactuation in robotic grasping hands[J]. Machine Intelligence & Robotic Control, 2002(3): 1-11.

[10] Gosselin C, Laliberte T. Underactuated Versatile Gripper for the Cleaning of Nuclear Sites[C]/ 2010 1st International Conference on Applied Robotics for the Power Industry. Montréal, Canada : Delta Centre-Ville, 2010: 1-6.

DOI: 10.1109/carpi.2010.5624464

[11] Tao Li, Minzhou Luo, Zhangjie Shi, Linsen Xu. The Research on Pinching Precisely and Enveloping Caputure of Underactuated Robot Hand [J]. in China. Mechanical Design, 2009(11): 42-44.

[12] Courtney E. Doyle, Justin J. Bird, Taylor A. Isom, Jason C. Kallman, Daman F. Bareiss, David J. Dunlop, Raymond J. King, Jake J. Abbott, Mark A. Minor. Avian-Inspired Passive Perching Mechanism for Robotic Rotorcraft [J]. IEEE/ASME TRANSACTIONS ON MECHATRONICS , 2013(2): 4975-4980.

DOI: 10.1109/tmech.2012.2211081

[13] P.G. Clem, M. Rodriguez, J.A. Voigt and C.S. Ashley, U.S. Patent 6, 231, 666. (2001).

[13] Peter Steutel, Gert A. Kragten, Just L. Herder. DESIGN OF AN UNDERACTUATED FINGER WITH A MONOLITHIC STRUCTURE AND LARGELY DISTRIBUTED COMPLIANCE[C]/Proceedings of the ASME 2010 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference. Montreal, Quebec, Canada: Delft University of Technology, 2010: 1-9.

DOI: 10.1115/detc2010-28127

[14] Hai Huang. The Research on the Dynamical Control of a New Humanoid Prosthetic Hand [D]. in China. Harbin Institute of Technology: Thesis for PhD of Harbin Institute of Technology , (2008).