NDLI: Design of a low-cost underactuated finger for positioning or pinching thin objects

Content Provider	IEEE Xplore Digital Library
Author	Jinchang Fan Canjun Yang Qian Bi Hao Gu
Copyright Year	2015
Description	Author affiliation: ABB Corp. Res. Center, Shanghai, China (Hao Gu) \|\| State Key Lab. of Fluid Power Transm. & Control, Zhejiang Univ., Hangzhou, China (Jinchang Fan; Canjun Yang; Qian Bi)
Abstract	Robotic grippers in industry are expected to have low degrees of freedom (DOFs) with cost and simplicity concerns. However, thin objects (e.g. mobile phone covers, shielding of IC chips) cannot be handled by traditional gripper fingers, since deformation may be caused. To solve this problem, a low-cost underactuated finger with a special four-bar linkage and a flexible joint is proposed in this paper. The special four-bar linkage is designed to obtain the desirable motion trail of the fingertip which is a quasi-horizontal line, while the flexible joints reduce the impact force and achieve compliant force control. In this paper, the design methodology of the four-bar linkage and the flexible joint is introduced, while the kinematic performance is analyzed. An experiment was conducted to verify the design and analysis. Results show that the proposed two DOFs underactuated finger can be applied on a robotic gripper to pinch or position thin objects. Finally, an example for its application is briefly explained to reinforce the concept.
Sponsorship	IEEE Ind. Electron. Soc. (IES)
Starting Page	1108
Ending Page	1113
File Size	1174511
Page Count	6
File Format	PDF
e-ISBN	9781467391078
DOI	10.1109/AIM.2015.7222688
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-07
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Grippers Couplings Thumb Force Fasteners
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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