A low-cost linkage-spring-sendon-integrated compliant anthropomorphic robotic hand : MCR-Hand III

Yang, H; Wei, G; Ren, L; Qian, Z; Wang, K; Xiu, H; Liang, W

Abstract

This paper presents the design, analysis and development of an anthropomorphic robotic hand, i.e. MCR-Hand III. Based on the investigation of human hand anatomical structure and the related existing robotic hands, mechanical design of the MCR-Hand III is presented. Then, a detailed introduction for mechanical compliance of the hand is provided, which is achieved through the combinations of springs with four-bar 4R linkages and tendons. Using D-H convention, kinematics and force analysis of the hand are formulated and illustrated with numerical simulations, laying background for comparison and evaluation. Subsequently, a prototype of the proposed robotic hand is developed, and fingertip force calibration and validation are conducted. Further, a three-stage algorithm for object stiffness identification and adaptive grasping is proposed and evaluated, and grasping evaluation based on the Cutkosky taxonomy with additional deformable object lifting operation and piano manipulation is carried out. The proposed MCR-Hand III costs less than $800 and is hence affordable for wider applications. The experimental results indicate that the proposed hands are capable of implementing the grasp and manipulation for most of the objects used in daily life.

Citation

Yang, H., Wei, G., Ren, L., Qian, Z., Wang, K., Xiu, H., & Liang, W. (2021). A low-cost linkage-spring-sendon-integrated compliant anthropomorphic robotic hand : MCR-Hand III. Mechanism and Machine Theory, 158, 104210. https://doi.org/10.1016/j.mechmachtheory.2020.104210

• Journal Article Type: Article
• Acceptance Date: Nov 30, 2020
• Online Publication Date: Dec 30, 2020
• Publication Date: Apr 1, 2021
• Deposit Date: Jan 6, 2021
• Publicly Available Date: Dec 30, 2021
• Journal: Mechanism and Machine Theory
• Print ISSN: 0094-114X
• Publisher: Elsevier
• Volume: 158
• Pages: 104210
• DOI: https://doi.org/10.1016/j.mechmachtheory.2020.104210
• Publisher URL: https://doi.org/10.1016/j.mechmachtheory.2020.104210
• Related Public URLs: http://www.journals.elsevier.com/mechanism-and-machine-theory/
• Additional Information: Funders : National Natural Science Foundation of China; Grant Number: 91948302; Grant Number: 91848204