Grasp analysis of a four-fingered robotic hand based on Matlab simmechanics

Neha, Eram; Suhaib, Mohd.; Asthana, Shruti; Mukherjee, Sudipto

doi:10.22061/jcarme.2019.3427.1390

نشریات مستقل دانشگاه در سامانه ارزیابی نشریات علمی وزارت علوم

نشریه معماری وشهرسازی پایدار موفق به اخذ رتبه علمی-پژوهشی شد

تعداد نشریات	13
تعداد شماره‌ها	206
تعداد مقالات	2,049
تعداد مشاهده مقاله	2,721,178
تعداد دریافت فایل اصل مقاله	1,972,864

	Grasp analysis of a four-fingered robotic hand based on Matlab simmechanics
Journal of Computational & Applied Research in Mechanical Engineering (JCARME)
مقاله 1، دوره 9، شماره 2 - شماره پیاپی 18، اردیبهشت 2020، صفحه 169-182 اصل مقاله (1.61 M)
نوع مقاله: Research Paper
شناسه دیجیتال (DOI): 10.22061/jcarme.2019.3427.1390
نویسندگان
Eram Neha^* ¹؛ Mohd. Suhaib²؛ Shruti Asthana³؛ Sudipto Mukherjee⁴
¹Room No. 45, Deptt. of Mechanical Engineering, Faculty of Engineering &amp; Technology, Jamia Millia Islamia, New Delhi
²Department of Mechanical Enbgineering, Jamia Millia Islamia, New Delhi, India
³Department of Mechanical Engineering, IGDTUW, New Delhi, India
⁴Department Of Mechanical Engineering, Indian Institute of Technology, Delhi
تاریخ دریافت: 24 اسفند 1396، تاریخ بازنگری: 29 بهمن 1397، تاریخ پذیرش: 06 اسفند 1397
چکیده
The structure of the human hand is a complex design comprising of various bones, joints, tendons, and muscles functioning together in order to produce the desired motion. It becomes a challenging task to develop a robotic hand replicating the capabilities of the human hand. In this paper, the analysis of the four-fingered robotic hand is carried out where the tendon wires and a spring return mechanism is used for the flexion and extension motion of the fingers, respectively. Stable grasping and fine manipulation of different objects are desired from any multi-finger robotic hand. In this regard, it becomes necessary to check the performance of the four-fingered robotic hand. Simulations are performed for the hand to grasp objects of different size and shapes, and the hand model is controlled in a MATLAB environment using the SimMechanics toolbox. Here the Kinematics and Dynamics study of the hand system is carried out by importing the Solidworks model into the SimMechanics. Simulation results demonstrate that the developed hand model is able to grasp objects of varying size and shapes securely.
کلیدواژه‌ها
SimMechanics؛ Multi-finger hand؛ Robotic gripper؛ Tendon-driven mechanism

مراجع
[1] W. Widhiada, Et. al. “Design and control of three fingers motion for dexterous assembly of compliant elements”, International Journal of Engineering, Science and Technology, vol. 3, No. 6, pp. 18-34, (2011). [2] Y. Nakamura, K. Nagal, T. Yoshikawa, “Dynamics and stability in coordination of multiple robotic mechanisms”, International Journal on Robotics Research, vol. 8, No. 2, pp. 44-61, (1989). [3] D.P. Chevallier, S. Payandeh, “On computing the friction forces associated with three-fingered grasp”, International Journal on Robotics Research, vol.13, No.2, pp. 119-126, (1994). [4] C. Xiong, Y. Xiong, “Stability index and contact configuration planning of multifingered grasp”, Journal of Robotic Systems, vol.15, No. 4, pp.183-190, (1998). [5] M. T. Ciocarlie and P. K. Allen, “Hand Posture Subspaces for Dexterous Robotic Grasping,” The International Journal of Robotics Research, vol. 28, No. 7, pp. 851–867, (2009). [6] C. Goldfeder and P. K. Allen, “Data-driven grasping,” Autonomous Robots, vol. 31, No. 1, pp. 1–20, (2011). [7] S. Geidenstam, K. Huebner, D. Banksell, and D. Kragic, “Learning of 2D grasping strategies from box-based 3D object approximations,” in Proceedings of Robotics: Science and Systems, vol. 1, No. 1, (2009). [8] A. Saxena, J. Driemeyer, J. Kearns, and A. Y. Ng, “Robotic grasping of novel objects,” in Advances in Neural Information Processing Systems , vol. 19, No. 1, pp. 1209–1216, (2006). [9] M. Popovic, D. Kraft, L. Bodenhagen, E. Baseski, N. Pugeault, D. Kragic, T. Asfour, and N. Kr¨uger, “A strategy for grasping unknown objects based on co-planarity and colour information,” Robotics and Autonomous Systems, vol. 58, No. 5, pp. 551 – 565, (2010). [10] D. Berenson and S. Srinivasa, “Grasp synthesis in cluttered environments for dexterous hands,” in IEEE-RAS International Conference on Humanoid Robots (Humanoids08), vol.1, No. 1, (2008). [11] Z. Li and S. Sastry, “Task oriented optimal grasping by multifingered robot hands,” in ICRA, vol. 1, No. 1, pp. 389–394, (1988). [12] M. Prats, P. Sanz, and A. del Pobil, “Task-oriented grasping using hand preshapes and task frames,” in IEEE Robotics and Automation, vol. 1, No. 1,pp. 1794 –1799, (2007). [13] C. Rosales, L. Ros, J. M. Porta, and R. Suarez, “Synthesizing Grasp Configurations with Specified Contact Regions,” The International Journal of Robotics Research, vol.1, No. 1, (2010). [14] D. Song, K. Huebner, V. Kyrki, and D. Kragic, “Learning task constraints for robot grasping using graphical models”, in IROS, pp. 1579 –1585, (2010). [15] R. Detry, D. Kraft, A. Buch, N. Kruger, and J. Piater, “Refining grasp affordance models by experience,” in IEEE International Conference on Robotics and Automation, vol.1, No. 1, pp. 2287 –2293, (2010). [17] J. Aleotti and S. Caselli, “Part-based robot grasp planning from human demonstration,” in ICRA, pp. 4554 –4560. (2011). [18] T. Yoshikawa, and K. Nagai, “Evaluation and Determination of Grasping Forces for Multi-fingered Hands”, In Proc. IEEE Int. Conf. on Robotics and Automation, pp. 245–248, (1988). [19] Y. Nakamura, K. Nagai, and T. Yoshikawa, “Dynamics and Stability in Coordination of Multiple Robotic Mechanisms”, Int. Journal of Robotics Research, Vol.8, No. 2, pp. 44–61, (1989). [20] W. Hassan and A. Mahmood, “Mathematical Modeling and Optimal Control of Cricket Bowling Action based on SimMechanics in Matlab”, IEEE. (2017). [21] K. Seiichiro, Y. Matsumoto, and K. Ohnisihi, “Modeling of Force Sensing and Validation of disturbance observer for Force Control”, IEEE Transactions on industrial electronics, Vol.54, No. 1, (2007). [22] T. Johan, et. al., “Demontration-based learning and control for automatic grasping”, Springer-verlag, (2008). [23] Z. Leon, “Simulation in Robotics”, Science Direct-Mathematics and Computer Simulation, Vol. 79, pp. 879-897, (2008). [24] S.S. Ohol and S.R. Kajale, “Simulation of Multi-finger Robotic Gripper for Dynamic Analysis of Dexterous Grasping”, Proceedings of the World Congress on Engineering and Computer Science, pp.908-914, (2008). [25] M. S. Alshamasin, F. Ionescu, and R. T. Al-Kasasbeh, “Kinematic Modeling and Simulation of a SCARA Robot by Using Solid Dynamics and Verification by MATLAB/Simulink”, European Journal of Scientific Research, Vol.37, No. 3, pp.388-405, (2009). [26] M. Schlotter, “Multibody System Simulation with SimMechanics”, Technical Report, Darmstadt University of Technology, (2003). [27] S. S. Sun, and Q. H. M. Meng, “Dynamic Simulation of Robot Manipulators Using Graphical Programming Packages”, Proc. of IEEE Pacific Rim Conf. on Communications, Computers, and Signal Processing, Victoria, BC, Canada, pp. 521-524, (1995). [28] G.D. Wood, and D. C. Kennedy, “Simulating Mechanical Systems in Simulink with SimMechanics”, Tech. Report, The Mathworks Inc, (2003). [29] L. Zlajpah, “Simulation in robotics”, Proceedings of Mathematics and Computers in Simulation, Elsevier, pp. 879–897, (2008). [30] N. S. Tlale, and P. Zhang, “Teaching the design of parallel manipulators and their controllers, implementing MATLAB, Simulink, SimMechanics and CAD”, Int. J. Engineering. Ed., Vol. 21, No. 5, pp. 838-845, (2005). [31] L. Yu, L. Zhang, and S. Yang, “Kinematic simulation and analysis of 3-RPS parallel robot on SimMechanics”, Proc. Int. Conf. on Information and Automation, Harbin, China, pp. 2363-2367, (2010). [32] D. Hroncova and M. Pastor, “Mechanical System and SimMechanics Simulation”. American Journal of Mechanical Engineering. Vol. 1, No.7, pp. 251-255, (2013). [33] A. D. Udai et. al., “Dynamic Simulation of a KUKA KR5 Industrial Robot using MATLAB SimMechanics”, National Conference on Machines and Mechanisms,Vol.1, No.8, (2011). [34] A. Singla et. al., “Matlab/ simMechanics based control of four-bar passive lower-body mechanism for rehabilitation”, Perspectives in Sciences. Elsevier, Vol.8, pp. 351-354, (2016). [35] J. A. Corrales et. al., “Modelling and Simulation of a Multi-fingered Robotic hand for grasping Tasks”, Int. Conference on Control, Automation, Robotics and vision, IEEE, pp. 1577-1582, (2010). [36] H. Kawasaki, T. Komatsu, and K. Uchiyama, “Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II”, IEEE/ASME Transactions on Mechatronics, vol.7, No.3, pp. 296-303, (2002). [37] S. Jacobsen, J. Wood, D. Knutti, and K. Biggers, “The UTAH/M.I.T. Dextrous Hand: Work in Progress”, The International Journal of Robotics Research, vol. 3, No.4, pp.21-50, (1984). [38] K.S. Salisbury and B. Roth, B, “Kinematics and Force Analysis of Articulated Mechanical Hands”, ASME Journal of Mechanisms, Transmissions and Actuation in Design, vol. 105, No.1, pp. 35-41, (1983). [39] S. Schulz, C.Pylatiuk, and G. Bretthauer, “A New Ultra-light Anthropomorphic Hand”, Proceedings of the IEEE International Conference on Robotics and Automation, vol.1, No.1, (2001). [40] P. Kyberd and P. Chappell, “The Southhampton Hand: an intelligent myoelectric prosthesis”, Journal of Rehabilitation Research and Development, vol. 31, no. 4, pp. 326-334, (1994). [41] C.S. Lovchik, and M.A. Diftler, “ The robonaut hand: a dexterous robot hand for space. Proceedings of IEEE International Conference on Robotics & Automation, pp. 907-912, (1999). [42] J. Butterfass, J. et. al., “DLR-hand II: Next generation of a dextrous robot hand”, Proc. IEEE International Conference on robotics and Automation,Vol.1, No.1,(2001). [43] E. Neha, M. Suhaib and S. Mukherjee, “Motion Planning For A Four-Fingered Robotic Hand”, Advances in Robotics, ACM digital library, (2017). [44] T. Iberall, “Human prehension and dexterous robot hands”, Int. Journal of Robotic Research, Vol. 16, No. 3, pp. 285-299, (1997).
آمار تعداد مشاهده مقاله: 1,893 تعداد دریافت فایل اصل مقاله: 2,295

سامانه مدیریت نشریات علمی. قدرت گرفته از سیناوب

پیوندهای مفید

پیوندهای مفید

اخبار و اعلانات

آمار

Grasp analysis of a four-fingered robotic hand based on Matlab simmechanics