Below is a list of all relevant publications authored by Robotics Forum members.

Citation

BibTex format

@inproceedings{Wang:2020,
author = {Wang, J and Lu, Q and Clark, A and Rojas, N},
publisher = {Springer Verlag},
title = {A passively complaint idler mechanism for underactuated dexterous grippers with dynamic tendon routing},
url = {http://hdl.handle.net/10044/1/80229},
year = {2020}
}

RIS format (EndNote, RefMan)

TY  - CPAPER
AB - n the field of robotic hands, tendon actuation is one of themost common ways to control self-adaptive underactuated fingers thanksto its compact size. Either differential or direct drive mechanisms areusually used in these systems to perform synchronised grasping using asingle actuator. However, synchronisation problems arise in underactu-ated grippers whose position of proximal joints varies with time to per-form manipulation operations, as this results in a tendon-driven systemwith dynamic anchor pulleys. This paper introduces a novel passivelycomplaint idler mechanism to avoid unsynchronisation in grippers witha dynamic multi-tendon routing system, such that adequate graspingcontact forces are kept under changes in the proximal joints’ positions.A re-configurable palm underactuated dexterous gripper is used as acase study, with the performance of the proposed compliant idler systembeing evaluated and compared through a contact force analysis duringrotation and translation in-hand manipulation tasks. Experiment resultsclearly demonstrate the ability of the mechanism to synchronise a dy-namic tendon routing gripper. A video summarising experiments andfindings can be found athttps://imperialcollegelondon.box.com/s/hk58688q2hjnu8dhw7uskr7vi9tqr9r5.
AU - Wang,J
AU - Lu,Q
AU - Clark,A
AU - Rojas,N
PB - Springer Verlag
PY - 2020///
SN - 0302-9743
TI - A passively complaint idler mechanism for underactuated dexterous grippers with dynamic tendon routing
UR - http://hdl.handle.net/10044/1/80229
ER -