A low-cost linkage-spring-sendon-integrated compliant anthropomorphic robotic hand : MCR-Hand III

Yang, H, Wei, G ORCID: https://orcid.org/0000-0003-2613-902X, Ren, L, Qian, Z, Wang, K, Xiu, H and Liang, W 2021, 'A low-cost linkage-spring-sendon-integrated compliant anthropomorphic robotic hand : MCR-Hand III' , Mechanism and Machine Theory, 158 , p. 104210.

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This paper presents the design, analysis and development of an anthropomorphic robotic hand, i.e. MCR-Hand III. Based on the investigation of human hand anatomical structure and the related existing robotic hands, mechanical design of the MCR-Hand III is presented. Then, a detailed introduction for mechanical compliance of the hand is provided, which is achieved through the combinations of springs with four-bar 4R linkages and tendons. Using D-H convention, kinematics and force analysis of the hand are formulated and illustrated with numerical simulations, laying background for comparison and evaluation. Subsequently, a prototype of the proposed robotic hand is developed, and fingertip force calibration and validation are conducted. Further, a three-stage algorithm for object stiffness identification and adaptive grasping is proposed and evaluated, and grasping evaluation based on the Cutkosky taxonomy with additional deformable object lifting operation and piano manipulation is carried out. The proposed MCR-Hand III costs less than $800 and is hence affordable for wider applications. The experimental results indicate that the proposed hands are capable of implementing the grasp and manipulation for most of the objects used in daily life.

Item Type: Article
Schools: Schools > School of Computing, Science and Engineering
Journal or Publication Title: Mechanism and Machine Theory
Publisher: Elsevier
ISSN: 0094-114X
Related URLs:
Funders: National Natural Science Foundation of China
Depositing User: Dr Guowu Wei
Date Deposited: 06 Jan 2021 09:12
Last Modified: 15 Feb 2022 16:36
URI: https://usir.salford.ac.uk/id/eprint/59263

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