Abstract:
|
Underactuated grippers aim to simplify the control strategies for performing stable grasps due
to their inherent shape adaptability. While at the beginning, the main research area was focused
on developing human-like robotic hands for disabled people, in the last years, a new eld of
application appeared with the constant evolution of the industry: the implementation of a single
underactuated gripper as a replacement of diverse dedicated fully-actuated grippers. However,
two main issues are restraining its use: the stability of the grasp and the speed of performance.
The rst is an active topic as all underactuated grippers need to ensure the stability of the
grasped object through an adequate kinematic design, while, the latter is not widely treated
as there weren't many application elds where high-speed was required and, at the end, the
quasi-static analysis must be also ensured.
For this reason, the present research work has been focused on the speed of the grasping.
In the rst place, an introduction to underactuated hands is made, and is followed by two
main stability criteria. Then, the development of a model for an underactuated nger that
allows analyzing the complete grasping sequence at high-speed along with a collision model are
presented. Following, a design-based analysis to simplify the model is performed, and the graspstate
volume tool is introduced in order to inspect the impact of the design variables on the
proposed criteria. In the last chapter, an optimization over the design space is performed and
a design is chosen, crosschecked with ADAMS software and prototyped. Finally, an overview
remarking the strengths and gaps in the research is presented in the form of conclusions, and
closing them, future works that could be interesting to develop. |