新型劣駆動多指ハンドにおける受動的安定性の準静的解析
Quasi-static analysis of passive stability in a novel underactuated multi-finger hand
差動バネ式スライダ機構を備えた3指劣駆動ハンドを提案し、把持物体の安定平衡姿勢を準静的に解析して、物体サイズが円筒・球把持の安定性に与える影響を調べた。
著者: Léonie Plancoulaine, Sylvain Guégan, Franck Plestan, Damien Chablat
分類: cs.RO
原文アブストラクト
Underactuated robotic hands achieve adaptive and robust grasping with a reduced number of actuators, but predicting the stable equilibrium pose of the grasped object remains a significant challenge. This paper introduces a quasi-static analytical approach to assess passive stability in underactuated multi-finger hands. A novel three-finger hand architecture integrating a differential spring-loaded slider mechanism is introduced, enabling versatile and adaptive grasping. The study focuses on how the differential mechanism influences the overall grasp behavior and analyzes the effect of object size on the stable equilibrium configurations for two canonical grasp types: cylindrical and spherical.