ICRA 2011 Paper Abstract


Paper WeP102.2

Balasubramanian, Ravi (Yale University), Dollar, Aaron (Yale University)

A Comparison of Workspace and Force Capabilities between Classes of Underactuated Mechanisms

Scheduled for presentation during the Regular Sessions "Underactuated and Tendon/Wire Mechanisms II" (WeP102), Wednesday, May 11, 2011, 13:55−14:10, Room 3C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 5, 2020

Keywords Underactuated Robots, Mechanism Design of Manipulators


We propose a novel approach to study the ability of an underactuated mechanism, or a mechanism that has fewer actuators than degrees of freedom, to passively adapt to environmental constraints. While prior work in underactuated robotic hands has primarily focused on the mechanismís ability to curl its distal degrees of freedom inward even after the proximal degrees of freedom are constrained by contact with the environment, this paper explores the mechanismís adaptability in terms of both motion and force-application capabilities in the presence of external constraints. Specifically, using four different transmissions for a novel singly-actuated linear three degree-of-freedom mechanism, this paper analyzes how the systemís ability to reconfigure joints and apply new contact forces varies as a function of the transmission configuration and object geometry. We show that with more extensive rerouting of a single actuator to multiple joints, the mechanism exhibits greater motion and force adaptability at the cost of decreased maximum joint travel and contact forces.



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