TY - GEN
T1 - Computational Design of Reconfigurable Underactuated Linkages for Adaptive Grippers
AU - Borisov, Ivan I.
AU - Khomutov, Evgenii E.
AU - Kolyubin, Sergey A.
AU - Stramigioli, Stefano
N1 - Funding Information:
*This work is supported by the Russian Science Foundation grant (project No17-79-20341).
Publisher Copyright:
© 2021 IEEE.
PY - 2021/12/16
Y1 - 2021/12/16
N2 - We present an optimization-based structural-parametric synthesis method for reconfigurable closed-chain underactuated linkages for robotic systems that physically interact with the environment with an emphasis on adaptive grasping. The key idea is to implement morphological computation concepts to keep both necessary trajectory-specific holonomic constraints and mechanism adaptivity using variable length links (VLL), while we evolve from a fully actuated to an underactuated system satisfying imposed design requirements. It allows to minimize the number of actuators, weight, and cost but keep high payload and endurance that are not reachable by tendon-driven designs. Despite the method is general enough, for clarity, we demonstrate its use on a number of finger mechanisms for adaptive grippers.
AB - We present an optimization-based structural-parametric synthesis method for reconfigurable closed-chain underactuated linkages for robotic systems that physically interact with the environment with an emphasis on adaptive grasping. The key idea is to implement morphological computation concepts to keep both necessary trajectory-specific holonomic constraints and mechanism adaptivity using variable length links (VLL), while we evolve from a fully actuated to an underactuated system satisfying imposed design requirements. It allows to minimize the number of actuators, weight, and cost but keep high payload and endurance that are not reachable by tendon-driven designs. Despite the method is general enough, for clarity, we demonstrate its use on a number of finger mechanisms for adaptive grippers.
KW - 22/4 OA procedure
UR - http://www.scopus.com/inward/record.url?scp=85124362165&partnerID=8YFLogxK
U2 - 10.1109/IROS51168.2021.9636792
DO - 10.1109/IROS51168.2021.9636792
M3 - Conference contribution
AN - SCOPUS:85124362165
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 6117
EP - 6123
BT - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
PB - IEEE
T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Y2 - 27 September 2021 through 1 October 2021
ER -