Fingertip suction is investigated using a compliant, underactuated, tendon-driven hand designed for underwater mobile manipulation. Tendon routing and joint stiffnesses are designed to provide ease of closure while maintaining finger rigidity, allowing the hand to pinch small objects, as well as secure large objects, without diminishing strength. While the hand is designed to grasp a range of objects, the addition of light suction flow to the fingertips is especially effective for small, low-friction (slippery) objects. Numerical simulations confirm that changing suction parameters can increase the object acquisition region, providing guidelines for future versions of the hand.


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    Title :

    A compliant underactuated hand with suction flow for underwater mobile manipulation




    Publication date :

    2014-05-01


    Size :

    8046049 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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