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On the Form-Closure Capability of Robotic Underactuated Hand

Abstract : This paper presents a new method to study the capability of an underactuated hand to produce form-closed grasps. First, the stability behaviours of different underactuated parallel-jaw grippers are analyzed and compared according to their actuation and transmission mechanisms. Then, both notions of 1st order and 2nd order form-closure are revisited for underactuated hands, since in this particular case the assumption of fixed contacts made in the original definition is false. Therefore, constraints imposed by non-backdrivable mechanisms are introduced into the model of the whole grasp. Finally, a simple geometrical condition, necessary and sufficient for 1st order form-closure is proposed. This permits to conclude on the minimum number of non-backdrivable mechanisms required to produce 1st order form-closed grasps using an underactuated hand.
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Contributor : Etienne Dombre Connect in order to contact the contributor
Submitted on : Wednesday, January 31, 2007 - 8:25:36 AM
Last modification on : Friday, October 22, 2021 - 3:07:19 PM


  • HAL Id : lirmm-00128161, version 1



Vincent Begoc, Claude Durand, Sébastien Krut, Etienne Dombre, François Pierrot. On the Form-Closure Capability of Robotic Underactuated Hand. ICARCV'06: 9th International Conference on Automation, Robotics and Computer Vision, 2006, Singapour, pp.2011-2018. ⟨lirmm-00128161⟩



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