On the Form-Closure Capability of Robotic Underactuated Hand

Vincent Begoc 1, 2 Claude Durand 2 Sébastien Krut 3 Etienne Dombre 3 François Pierrot 3
1 LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 B+ - B+ Development
3 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
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.
Keywords : Robotic hand Underactuation Form-closure Nonbackdrivability
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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00128161
Contributor : Etienne Dombre <>
Submitted on : Wednesday, January 31, 2007 - 8:25:36 AM
Last modification on : Monday, December 17, 2018 - 10:44:01 AM

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  • HAL Id : lirmm-00128161, version 1

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DEXTER | LIRMM | TDS-MACS | MIPS | UNIV-MONTPELLIER

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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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