Title: Contact points determination and validation for grasping of different objects by a four-finger robotic hand
Authors: Eram Neha; Mohd. Suhaib; Sudipto Mukherjee
Addresses: Department of Mechanical Engineering, Jamia Millia Islamia, New Delhi, India ' Department of Mechanical Engineering, Jamia Millia Islamia, New Delhi, India ' Department of Mechanical Engineering, Indian Institute of Technology Delhi, New Delhi, India
Abstract: Multi-finger robotic hands are analysed in comparison with human hands in terms of stable grasping and fine manipulation of different objects. Therefore, in order to attain a stable grasp, the contact points and the grip configuration must be selected in accordance with the grasp stability. In this paper, the four-fingered tendon actuated robotic hand is simulated to grasp different objects and determine the contact points of the fingertips on the surface of these objects. MATLAB SimMechanics tool is used to perform the simulation and 3D visualisation of the robotic hand where the fingers are controlled in order to grasp objects at the contact points. The obtained contact points are validated using the kinematics and geometric collision detection. These contact points are further utilised experimentally to determine the amount of weight required by the tendon to produce the flexion motion in order to grasp the object at the contact points.
Keywords: contact points; robotic hand; tip prehension; flexion motion; tendon actuated; SimMechanics.
International Journal of Intelligent Machines and Robotics, 2019 Vol.1 No.3, pp.193 - 209
Received: 09 Aug 2018
Accepted: 15 Aug 2018
Published online: 26 Aug 2019 *