Compliance Analysis of an Under-Actuated Robotic Finger

M. Wassink, Raffaella Carloni, Stefano Stramigioli

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    3 Citations (Scopus)
    58 Downloads (Pure)

    Abstract

    Under-actuated robotic hands have multiple applications fields, like prosthetics and service robots. They are interesting for their versatility, simple control and minimal component usage. However, when external forces are applied on the finger-tip, the mechanical structure of the finger might not be able to resist them. In particular, only a subset of disturbance forces will meet finite compliance, while forces in other directions impose null-space motions (infinite compliance). Motivated by the observation that infinite compliance (i.e. zero stiffness) can occur due to under-actuation, this paper presents a geometric analysis of the finger-tip compliance of an under-actuated robotic finger. The analysis also provides an evaluation of the finger design, which determines the set of disturbances that is resisted by finite compliance. The analysis relies on the definition of proper metrics for the joint-configuration space. Trivially, without damping, the mass matrix is used as a metric. However, in the case of damping (power losses), the physical meaningful metric to be used is found to be the damping matrix. Simulation experiments confirm the theoretical results.
    Original languageUndefined
    Title of host publicationProceedings of the 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages325-330
    Number of pages6
    ISBN (Print)978-1-4244-7708-1
    DOIs
    Publication statusPublished - Sep 2010
    Event3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 - Tokyo, Japan
    Duration: 26 Sep 201029 Sep 2010
    Conference number: 3

    Publication series

    Name
    PublisherIEEE Robotics and Automation Society

    Conference

    Conference3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
    Abbreviated titleBioRob
    CountryJapan
    CityTokyo
    Period26/09/1029/09/10

    Keywords

    • IR-75010
    • METIS-271159
    • Biorobotics
    • EWI-18936
    • Locomotion and manipulation in robots and biological systems
    • robotic hands
    • Protheses

    Cite this

    Wassink, M., Carloni, R., & Stramigioli, S. (2010). Compliance Analysis of an Under-Actuated Robotic Finger. In Proceedings of the 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 (pp. 325-330). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/BIOROB.2010.5628054