Configuration Design of an Under-Actuated Robotic Hand Based on Maximum Grasping Space

作     者：Shang-Ling Qiao Rong-Qiang Liu Hong-Wei Guo Yu-Xuan Liu Zong-Quan Deng 

作者机构：State Key Laboratory of Robotics and SystemHarbin Institute of Technology College of International Cooperative EducationHarbin Engineering University 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2018年第31卷第2期

页      面：45-53页

核心收录：

学科分类：0817[工学-化学工程与技术] 080202[工学-机械电子工程] 08[工学] 0807[工学-动力工程及工程热物理] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0801[工学-力学（可授工学、理学学位）] 

基　　金：Supported by Joint Funds of National Natural Science Foundation of China(Grant No.U1613201) Shenzhen Research Funds(JCYJ20170413104438332) 

主　　题：Under?actuated robotic hand Tendon?pulley transmission Grasping space Configuration design 

摘      要：Capture is a key component for on?orbit service and space debris clean. The current research of capture on?orbit focuses on using special capture devices or full?actuated space arms to capture cooperative targets. However, the structures of current capture devices are complex, and both space debris and abandoned spacecraft are non?cooperative targets. To capture non?cooperative targets in space, a lightweight, less driven under?actuated robotic hand is proposed in this paper, which composed by tendon?pulley transmission and double?stage mechanisms, and always driven by only one motor in process of closing finger. Because of the expandability, general grasping model is constructed. The equivalent joint driving forces and general grasping force are analyzed based on the model and the principle of virtual work. Which reveal the relationship among tendon driving force, joint driving forces and grasping force. In order to configure the number of knuckles of finger, a new analysis method which takes the maximum grasping space into account, is proposed. Supposing the maximum grasped object is an envelope circle with diameter of 2.5m. In the condition, a finger grasping maximum envelope circle with different knuckles is modeled. And the finger lengths with corresponding knuckles are calculated out. The finger length which consists of three knuckles is the shortest among under?actuated fingers consists of not more than five knuckles. Finally, the principle prototype and prototype robotic hand which consists of two dingers are designed and assembled. Experiments indicate that the under?actuated robotic hand can satisfy the grasp requirements.