Hostname: page-component-848d4c4894-pftt2 Total loading time: 0 Render date: 2024-06-01T15:09:35.027Z Has data issue: false hasContentIssue false
  • English
  • Français

Development and dynamics of a novel couple-constrained parallel wrist with three measuring force flexible fingers

Published online by Cambridge University Press:  16 June 2023

Yang Lu ,
Zefeng Chang  and
Yi Lu Open the ORCID record for Yi Lu [Opens in a new window]
Yang Lu*
Affiliation:
College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, PR China Harbin Electric Corporation (Qinhuangdao) Heavy Equipment Company Limited, Qinhuangdao, Hebei, 066004, PR China
Zefeng Chang
Affiliation:
College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, PR China
Yi Lu*
Affiliation:
College of Mechanical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004, PR China
*
Corresponding authors: Yi Lu, Yang Lu; Emails: luyi@ysu.edu.cn, deersheepxn@163.com
Corresponding authors: Yi Lu, Yang Lu; Emails: luyi@ysu.edu.cn, deersheepxn@163.com
Get access Rights & Permissions [Opens in a new window]

Abstract

A novel couple-constrained parallel wrist with three measuring force flexible fingers is designed for grabbing heavy objects and measuring grabbed forces. Its prototype is developed, its dynamics model is established, and its grabbing forces are measured. First, using the extended formulas of the skew-symmetric matrix, the kinematic formulas are derived for solving the Jacobian/Hessian matrices and the general velocity/acceleration of the moving links in the couple-constrained parallel wrist. Second, a dynamics model is established for solving the dynamic actuation forces, the couple-constrained forces, and the torque in the couple-constrained parallel wrist. Third, the theoretical solutions of the kinematics/dynamics of the couple-constrained parallel wrist are verified using a simulation mechanism. Finally, the grabbing forces of the three flexible fingers are measured and analyzed.

Keywords

kinematicsdynamicsparallel manipulatorJacobian matrixHessian matrixcouple-constraint
Type
Research Article
Information
Robotica , Volume 41 , Issue 9 , September 2023 , pp. 2713 - 2734
Copyright
© The Author(s), 2023. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Honarpardaz, M., Tarkian, M. and Olvander, J., “Finger design automation for industrial robot grippers: a review,” Robot. Auton. Syst. 87, 104–119 (2017).CrossRefGoogle Scholar
Kappassov, Z., Corrales, J. and Perdereau, V., “Tactile sensing in dexterous robot hands - review,” Robot. Auton. Syst. 74, 195–220 (2015).CrossRefGoogle Scholar
Li, G., Cheng, L., Gao, Z., Xia, X. and Jiang, J., “Development of an untethered adaptive thumb exoskeleton for delicate rehabilitation assistance,” IEEE Trans. Robot. 38(6), 3514–3529 (2022).CrossRefGoogle Scholar
Li, G., Cheng, L. and Sun, N., “Design, manipulability analysis and optimization of an index finger exoskeleton for stroke rehabilitation,” Mech. Mach. Theory 167, 104526 (2022).CrossRefGoogle Scholar
Craig, J. J.. Introduction to Robotics (Addison- Wesky Publishing Co, New York, 1989).Google Scholar
Huang, Z., Li, Q. and Ding, H.. Theory of Parallel Mechanisms (Springer, New York, 2013).CrossRefGoogle Scholar
Zhang, D.. Parallel Robotic Machine Tools (Springer, New York Dordrecht Heidelberg London, 2010).CrossRefGoogle Scholar
Pan, Y. and Gao, F., “Position model computational complexity of walking robot with different parallel leg mechanism topology patterns,” Mech. Mach. Theory 107, 324–337 (2017).CrossRefGoogle Scholar
Kong, X. and Gosselin, C. M., “Type synthesis of three- degree- of-freedom spherical parallel manipulators,” Int. J. Robot. Res. 23(3), 237–245 (2004).CrossRefGoogle Scholar
Ebrahim, M., “A survey of bio-inspired robotics hands implementation: New directions in dexterous manipulation,” Robot. Auton. Syst. 61(5), 517–544 (2013).Google Scholar
Spencer, B., Rina, O., Andrew, B., Andrew, B., Eric, D. and Aaron, P., “Design and testing of the JPL-Nautilus Gripper for deep-ocean geological sampling,” J. Field Robot. 37(6), 972–986 (2020).Google Scholar
Jin, X., Fang, Y. and Zhang, D., “Design of dexterous hands based on parallel finger structures,” Mech. Mach. Theory 152, 103952 (2020).CrossRefGoogle Scholar
Jin, X., Fang, Y. and Zhang, D., “Synthesis of 3-[P][S] parallel mechanism-inspired multimode dexterous hands with parallel finger structure,” J. Mech. Des. 142(8), Article No. 083301 (2020).CrossRefGoogle Scholar
He, J., Li, J. and Sun, Z., “Kinematic design of a serial-parallel hybrid finger mechanism actuated by twisted-and-coiled polymer,” Mech. Mach. Theory 152, Article No. 103951 (2020).CrossRefGoogle Scholar
Zheng, Y., Wu, B. and Chen, Y., “Design and validation of cable-driven hyper-redundant manipulator with a closed- loop puller-follower controller,” Mechatron. 78, Article No. 102605 (2021).CrossRefGoogle Scholar
Li, Z., Hou, Z. and Mao, Y., “The development of a two-finger dexterous bionic hand with three grasping patterns-nwafu hand,” J. Bionic Eng. 17(4), 718–731 (2020).CrossRefGoogle Scholar
Isaksson, M., Gosselin, C. M. and Marlow, K., “An introduction to utilizing the redundancy of a kinematically redundant parallel manipulator to operate a gripper,” Mech. Mach. Theory 101, 50–59 (2016).CrossRefGoogle Scholar
Geng, R., Mills, J. and Yao, Z., “Design and analysis of a novel 3-DOF spatial parallel microgripper driven by LUMs,” Robot. Comput-Integr. Manuf. 42, 147–155 (2016).CrossRefGoogle Scholar
Han, C., Kim, J., Kim, J. W. and Fran, C. P., “Kinematic sensitivity analysis of the 3-UPU parallel mechanism,” Mech. Mach. Theory 37(8), 787–798 (2002).CrossRefGoogle Scholar
Lu, Y., Chang, Z. F. and Lu, Y., “Development and kinematics/statics analysis of rigid-flexible-soft hybrid finger mechanism with standard force sensor,” Robot. Comput. Integr. Manuf. 67, Article No. 101978 (2021).CrossRefGoogle Scholar
Lu, Y., Ye, N. J. and Chang, Z. F., “Derivation of general acceleration and hessian matrix of kinematic limbs in parallel manipulator by extended skew symmetric matrixes,” Arch. Comput. Method Eng. 28(4), 3035–3047 (2021).CrossRefGoogle Scholar
Lu, Y. and Hu, B., “Unification and simplification of velocity/ acceleration of limited-dof parallel manipulators with linear active legs,” Mech. Mach. Theory 43(9), 1112–1128 (2008).CrossRefGoogle Scholar
Lu, Y., Shi, Y. and Hu, B., “Solving reachable workspace of some parallel manipulators by computer-aided design variation geometry,” Proc. Inst. Mech. Eng. C J. Mech. Eng. Sci. 222(4), 1773–1781 (2008).CrossRefGoogle Scholar