Design And Analysis Of Selectively Compliant Underactuated Robotic Hands
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Design And Analysis Of Selectively Compliant Underactuated Robotic Hands
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Author : Daniel McConnell Aukes
language : en
Publisher:
Release Date : 2013
Design And Analysis Of Selectively Compliant Underactuated Robotic Hands written by Daniel McConnell Aukes and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013 with categories.
A balance between complexity and functional capabilities has been explored since the first years of multi-fingered robotic hands. In an age where DC motors are the de facto standard for actuation in robotics, the problem of needing to operate in a human-sized world puts severe constraints and limits on actuator size and placement in hands. While many successful examples of fully-actuated designs exist, these designs generally reflect the trade-offs and sacrifices imposed by such constraints. In that light, underactuation, employing fewer actuators than degrees of freedom, has gained attention as a method to achieve many of the functional capabilities of fully-actuated hands with fewer constraints on actuators and transmissions. Underactuated hands also have distinct advantages over fully actuated hands, especially when used on mobile robots, due to their reduced weight and control complexity, and the potential for increased robustness. However there is typically a trade-off in terms of reduced controllability or manipulability when handling grasped objects. When designing underactuated hands, extra care must be taken during the design process to ensure that such hands will grasp a wide range of object sizes and shapes robustly, particularly when friction is low and uncertain. Despite these concerns, underactuated hands have become increasingly popular in robotic and prosthetic applications. Robotic hands are also a venue in which novel, secondary mechanisms are often found. Devices such as differentials, valves, clutches, and low-power, shape-changing actuators have been used to improve grasp robustness on a wider range of objects and allow users more grasping and manipulation options. However, the location and placement of secondary actuators has not been studied in a comprehensive way with respect to the types of actuation methods possible. This is due in part to the lack of general analytic tools which enable designers to rapidly investigate their designs prior to the prototyping stage. Additionally, much of the analysis in the field of robotic hands is done once basic design choices have already been made, making subsequent analyses specific only to a set of design parameters specific to those choices. The same point can be made regarding quality metrics, which suffer from fragmented utilization due to the many different emphases placed on different design requirements. The primary goal of this thesis is to provide a framework for the analysis and evaluation of underactuated robotic hands. The first chapter discusses both the broad motivations for studying robotic hands and the specific contributions of this thesis. The next chapter reviews relevant designs from literature, analyses that have accompanied them, uses of secondary devices in underactuated hands, and the progress that dynamics simulators have made towards representing reality. In the next chapters, the issues related to modeling abstract, generic hand designs is discussed, and a kinematic framework is introduced to derive the force relationships between actuator and grasped object for many mechanisms commonly encountered in underactuated hands. Chapter 6 discusses difficulties associated with solving static force equations, and several methods are introduced to accomplish this. The last of these options relies on three-dimensional rigid-body dynamic simulations to evaluate the performance of compliant, underactuated mechanisms which may encounter conditions such as coulomb friction in contact and and damping at the joints. In the next chapters, these force relationships are derived and discussed for specific hand designs in the context of a force-field representation, and several performance metrics are derived which measure a hand's ability both to acquire and retain objects. The benefits of secondary actuation mechanisms are then discussed with two specific examples. First is the SRI/Stanford/Meka hand, a tendon-driven, compliant, underactuated hand capable of locking individual joints. Second is a mechanism implemented on the Seabed Hand, which increases the range of graspable objects and allows users to selectively change grasp properties based on their specific control needs. Finally, the impacts of friction are discussed, and the trends from simulations are compared with experimental data. From these experiments the benefits of secondary mechanisms can be demonstrated in a frictional world as well.
Proceedings Of I4sdg Workshop 2025 Iftomm For Sustainable Development Goals
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Author : Giuseppe Carbone
language : en
Publisher: Springer Nature
Release Date : 2025-05-23
Proceedings Of I4sdg Workshop 2025 Iftomm For Sustainable Development Goals written by Giuseppe Carbone and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-05-23 with Technology & Engineering categories.
This book contains the proceedings of the 3rd IFToMM Workshop for Sustainable Development Goals (I4SDG), held in Lamezia Terme, Italy, on June 9–11, 2025. The workshop papers are focused on those aspects of the theory, design, and applications of mechanism and machine science that are fundamental for moving toward sustainable development. The main topics of the workshop are: sustainable energy systems, robotics and mechatronics, biomechanical and medical systems, education, linkages, gears, transmissions and actuators, engines and powertrains, tribology, transportation machinery, service systems for sustainability, humanitarian engineering, and socio-technical systems for sustainable and inclusive development. The contributions, selected through a rigorous international peer-review process, highlight many exciting ideas that will drive new research directions and foster multidisciplinary collaboration between researchers from different backgrounds.
Experimental Robotics
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Author : Jaydev P. Desai
language : en
Publisher: Springer
Release Date : 2013-07-09
Experimental Robotics written by Jaydev P. Desai and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-07-09 with Technology & Engineering categories.
The International Symposium on Experimental Robotics (ISER) is a series of bi-annual meetings, which are organized, in a rotating fashion around North America, Europe and Asia/Oceania. The goal of ISER is to provide a forum for research in robotics that focuses on novelty of theoretical contributions validated by experimental results. The meetings are conceived to bring together, in a small group setting, researchers from around the world who are in the forefront of experimental robotics research. This unique reference presents the latest advances across the various fields of robotics, with ideas that are not only conceived conceptually but also explored experimentally. It collects robotics contributions on the current developments and new directions in the field of experimental robotics, which are based on the papers presented at the 13the ISER held in Québec City, Canada, at the Fairmont Le Château Frontenac, on June 18-21, 2012. This present thirteenth edition of Experimental Robotics edited by Jaydev P. Desai, Gregory Dudek, Oussama Khatib, and Vijay Kumar offers a collection of a broad range of topics in field and human-centered robotics.
Bioinspired Design And Control Of Robots With Intrinsic Compliance
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Author : Yongping Pan
language : en
Publisher: Frontiers Media SA
Release Date : 2020-12-04
Bioinspired Design And Control Of Robots With Intrinsic Compliance written by Yongping Pan and has been published by Frontiers Media SA this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-12-04 with Science categories.
This eBook is a collection of articles from a Frontiers Research Topic. Frontiers Research Topics are very popular trademarks of the Frontiers Journals Series: they are collections of at least ten articles, all centered on a particular subject. With their unique mix of varied contributions from Original Research to Review Articles, Frontiers Research Topics unify the most influential researchers, the latest key findings and historical advances in a hot research area! Find out more on how to host your own Frontiers Research Topic or contribute to one as an author by contacting the Frontiers Editorial Office: frontiersin.org/about/contact.
Underactuated Robotic Hands
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Author : Lionel Birglen
language : en
Publisher: Springer
Release Date : 2007-12-23
Underactuated Robotic Hands written by Lionel Birglen and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007-12-23 with Technology & Engineering categories.
Grasping and manipulation skills are at the core of the development of modern robotic systems. With the introduction of robotics in new applications involving unstructured environments (e.g. space, undersea, surgery), intelligent manipulation and grasping has become a crucial research area. The authors have developed an internationally recognized expertise in this area. Additionally, they designed and built several prototypes which attracted the attention of the scientific community. Their work was reported in several publications which appeared in the most renowned journals and conferences. The purpose of this book is to summarize years of research and to present, in an attractive format, the expertise developed by the authors on a new technology for grasping—namely under actuation—which has achieved great success both in theory and in practice. This book is not intended to be used as a textbook but could be used as a reference at the post-graduate level.
Living Machines
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Author : Tony J. Prescott
language : en
Publisher: Oxford University Press
Release Date : 2018
Living Machines written by Tony J. Prescott and has been published by Oxford University Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018 with Computers categories.
Contemporary research in the field of robotics attempts to harness the versatility and sustainability of living organisms with the hope of rendering a renewable, adaptable, and robust class of technology that can facilitate self-repairing, social, and moral--even conscious--machines. This landmark volume surveys this flourishing area of research.
Robotics Goes Mooc
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Author : Bruno Siciliano
language : en
Publisher: Springer Nature
Release Date : 2025-04-30
Robotics Goes Mooc written by Bruno Siciliano and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-04-30 with Technology & Engineering categories.
With the massive and pervasive diffusion of robotics technology in our society, we are heading towards a new type of AI, which we call Physical AI at the intersection of Robotics with AI, that is the science of robots and intelligent machines performing a physical action to help humans in their jobs of daily lives. Physical assistance to disabled or elderly people; reduction of risks and fatigue at work; improvement of production processes of material goods and their sustainability; safety, efficiency and reduction of environmental impact in transportation of people and goods; progress of diagnostic and surgical techniques are all examples of scenarios where the new InterAction Technology (IAT) is indispensable. The interaction between robots and humans must be managed in a safe and reliable manner. The robot becomes an ideal assistant, like the tool used by a surgeon, a craftsman, a skilled worker. The new generation of robots will co-exist — the cobots— with humans not only in the workplace but, gradually, in homes and communities, providing support in services, entertainment, education, health, manufacturing and care. As widely discussed above, interaction plays a crucial role for the development of modern robotic systems. Grasping, manipulation and cooperative manipulators are covered in the first part of the third book of the Robotics Goes MOOC project, respectively in Chapter 1 by Prattichizzo et al, Chapter 2 by Kao et al, and Chapter 3 by Caccavale. Specific interaction issues along with the development of digital and physical interfaces are dealt with in Chapter 4 by Marchal et al and in Chapter 5 by Croft et al, respectively. Interaction between robot and human also means that a robot can be worn by a human as presented in Chapter 6 by Vitiello et al. A different type of interaction at a cognitive and planning level is the focus of Chapter 7 by Lima devoted to multi-robot systems and Chapter 8 by Song et al on networked, cloud and fog robotics, respectively.
Springer Handbook Of Robotics
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Author : Bruno Siciliano
language : en
Publisher: Springer
Release Date : 2016-07-27
Springer Handbook Of Robotics written by Bruno Siciliano and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-07-27 with Technology & Engineering categories.
The second edition of this handbook provides a state-of-the-art overview on the various aspects in the rapidly developing field of robotics. Reaching for the human frontier, robotics is vigorously engaged in the growing challenges of new emerging domains. Interacting, exploring, and working with humans, the new generation of robots will increasingly touch people and their lives. The credible prospect of practical robots among humans is the result of the scientific endeavour of a half a century of robotic developments that established robotics as a modern scientific discipline. The ongoing vibrant expansion and strong growth of the field during the last decade has fueled this second edition of the Springer Handbook of Robotics. The first edition of the handbook soon became a landmark in robotics publishing and won the American Association of Publishers PROSE Award for Excellence in Physical Sciences & Mathematics as well as the organization’s Award for Engineering & Technology. The second edition of the handbook, edited by two internationally renowned scientists with the support of an outstanding team of seven part editors and more than 200 authors, continues to be an authoritative reference for robotics researchers, newcomers to the field, and scholars from related disciplines. The contents have been restructured to achieve four main objectives: the enlargement of foundational topics for robotics, the enlightenment of design of various types of robotic systems, the extension of the treatment on robots moving in the environment, and the enrichment of advanced robotics applications. Further to an extensive update, fifteen new chapters have been introduced on emerging topics, and a new generation of authors have joined the handbook’s team. A novel addition to the second edition is a comprehensive collection of multimedia references to more than 700 videos, which bring valuable insight into the contents. The videos can be viewed directly augmented into the text with a smartphone or tablet using a unique and specially designed app. Springer Handbook of Robotics Multimedia Extension Portal: http://handbookofrobotics.org/
Advances In Engineering Research And Application
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Author : Duy Cuong Nguyen
language : en
Publisher: Springer Nature
Release Date : 2024-08-24
Advances In Engineering Research And Application written by Duy Cuong Nguyen and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-08-24 with Technology & Engineering categories.
This book covers the International Conference on Engineering Research and Applications (ICERA 2023), which was held on December 1–2, 2023 at Thai Nguyen University of Technology in Thai Nguyen, Vietnam, and provided an international forum to disseminate information on latest theories and practices in engineering research and applications. The conference focused on original research work in areas including mechanical engineering, materials and mechanics of materials, mechatronics and micro mechatronics, automotive engineering, electrical and electronics engineering, information and communication technology. By disseminating the latest advances in the field, the proceedings of ICERA 2023, Advances in Engineering Research and Application, assists academics and professionals alike to reshape their thinking on sustainable development.
Fundamentals Of Robotic Mechanical Systems
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Author : Jorge Angeles
language : en
Publisher: Springer Science & Business Media
Release Date : 2013-12-09
Fundamentals Of Robotic Mechanical Systems written by Jorge Angeles and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-12-09 with Technology & Engineering categories.
The 4th edition includes updated and additional examples and exercises on the core fundamental concepts of mechanics, robots, and kinematics of serial robots. New images of CAD models and physical robots help to motivate concepts being introduced. Each chapter of the book can be read independently of others as it addresses a seperate issue in robotics.