Computational Design of Reconfigurable Underactuated Linkages for Adaptive Grippers

Ivan I. Borisov, Evgenii E. Khomutov, Sergey A. Kolyubin, Stefano Stramigioli

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

7 Citations (Scopus)
111 Downloads (Pure)

Abstract

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.

Original languageEnglish
Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
PublisherIEEE
Pages6117-6123
Number of pages7
ISBN (Electronic)9781665417143
DOIs
Publication statusPublished - 16 Dec 2021
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021: from Wearable Robots to Neurorobotics - Online Conference, Czech Republic
Duration: 27 Sept 20211 Oct 2021

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Workshop

WorkshopIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
Abbreviated titleIROS 2021
Country/TerritoryCzech Republic
CityOnline Conference
Period27/09/211/10/21

Keywords

  • 22/4 OA procedure

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