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.
A compliant underactuated hand with suction flow for underwater mobile manipulation
2014-05-01
8046049 byte
Conference paper
Electronic Resource
English
Path-following of Underactuated Underwater Vehicles
Springer Verlag | 2009
|Analysis and design of an underactuated compliant five-bar mechanism
Online Contents | 2016
|Trajectory-tracking Control of Underactuated Underwater Vehicles
Springer Verlag | 2009
|