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I. I NTRODUCTION
Common robotic hands do not usually consist of one single
finger, except maybe in the case of tentacle inspired systems.
Most prototypes have a number of fingers comprised between
two and five. The purpose of the underactuation between
the fingers is to use the power of one actuator to drive
the open/close motion of all the fingers of a robotic hand
collectively. The transmission mechanism used to achieve
such a property must be adaptive, i.e., when one or more
fingers are blocked, the remaining finger(s) should continue to
move. When all the fingers are blocked, the force should be
well distributed among the fingers and it should be possible to
apply large grasping forces while maintaining a stable grasp.
Introducing underactuation between the fingers of a robotic
hand allows to reduce the complexity of the systems, from
the actuation point of view. The application of this principle
has been demonstrated with several prototypes [1][6]. The
basic element commonly used to this end is the differential
mechanism. According to the IFToMM terminology [7],
a differential mechanism is a two-DOF mechanism that
may resolve a single input into two outputs and vice versa.
In underactuated grasping systems in the sense used in
this paper, a spring element is generally used to constrain
kinematically the outputs of the differential mechanism in
its pre-grasping phase. Usually, the spring is of negligible
stiffness with respect to the actuation torque and used to keep
both outputs in the same kinematic state (e.g. same angles or
? now with the Department of Mechanical Engineering, Ecole
Polytechnique of Montreal, Montreal, QC, H2S 2K3, Canada,
email: lionel.birglen@polymtl.ca
transmission
mechanism
F2a
Fig. 1.
F1a
A1
1
A. Movable pulley
The movable pulley is perhaps the most well-known and
commonly used mechanical element to distribute one actuation
force to two outputs [10], [12]. Since a tendon is used, such
a system can easily be employed to drive robotic fingers
which commonly use tendons for actuation transmission. In
Fig. 2, for instance, two n-phalanx underactuated fingers are
driven with one input through a movable pulley located inside
the palm of the hand. Note that the fingers are themselves
also underactuated since several phalanges are driven with
a single tendon. The movable pulley can also drive fullyactuated fingers (using coupled rotations for example). More
generally, this principle can be used to drive any mechanical
system driven by two tendons and thereby provide adaptability.
The notation pertaining to the analysis of the movable pulley
presented in this section is shown in Fig. 3. It is pointed out
that the two DOFs of the pulley are: an horizontal translation
and a rotation about an axis perpendicular to the plane of the
figure. The input force is noted Fa while the two output forces
are respectively F1a and F2a . A spring, modeled by the torque
T s , constrains the remaining DOF of the pulley. The purpose
of this analysis is to obtain the actuation forces transmitted
to the output as functions of the input forcesthe spring is
considered an input, i.e.
F = Tf t
with
Fa
Ts
A2
F2a
Fig. 3.
(1)
0.7
F=
F1a
F2a
t =
Fa
Ts
(2)
0.65
0.6
0.55
0.5
/4
5/16
6/16
2 (rad) 7/16
F1a
Fa
/2
/2
7/16
6/16
5/16
/4
1 (rad)
B. Seesaw mechanism
palm
Fig. 2.
fingers
1
T =
c
f
r
r
sin 2
sin 1
(3)
(4)
seesaw mechanism.
F1a
Fa
F2a
Sa
a2
A1
b1
b2
2
A2
Fa
Seesaw mechanism.
F2a
Fig. 6.
Fluidic stage.
a1
Fig. 5.
S1a
S2a
1
Ts
F1a
(7)
a a
F
F1
S1 /Sa 1 0 as
F1
=
.
(10)
F2a
S2a /Sa 0 1
F2s
Both cases are illustrated in Fig. 7. In the case where two
springs are used, the force transmission matrix of the stage is
not square, due to the fact that the device is overconstrained
with respect to a static analysis. Indeed, a n-output m-input
underactuated mechanism in the sense of this paper requires
n m springs in order to be statically determined. However,
in the latter case, the two-output one-input device uses not one
but two springs. This overconstraint may seem penalizing since
it implies that for a desired output in force, an infinite number
of solutions of the input force vector are possible. However,
this is usually not true since the stiffness of the springs is fixed
by design and therefore the only control variable available to
the user is the input force. Namely, the force inputs of the
springs are usually not controllable. Another characteristic of
the T-pipe scheme is that the output forces are constant and
independent of the output position (if the spring(s) is (are)
negligible) with respect to the actuator force. Furthermore,
the force-isotropic property can be easily achieved with this
device by making the output section areas equal.
F2a
F1a
F2a
F1a
Fa
Fig. 7.
Fa
(12)
Ta
rc
T1a
T2a
sun gear
rs
Ts
Fig. 8.
Fig. 9.
hand.
transm.
mech. 1
transm.
mech. 3
a
Fn2
transm.
mech. n 1
F1a
transm.
mech. n
transm.
mech. 5
a
Fn1
Fna
a
Fn+1
F3a
Fig. 10.
5
F1a
Fa
transm.
mech. 1
F2a
transm.
mech. 2
F3a
transm.
mech. 3
a
Fn1
transm.
mech. n 1
Fna
2
Tf
log n
log 2
..
Y
i
f
.
0
Bn
T =
i
2 1 f
T
i=1
0
1n2i
(16)
a
Fn3
transm.
mech. 1
transm.
mech. n 2
transm.
mech. 3
a
Fn2
a
Fn1
transm.
mech. n 1
Fna
F = i Tf i t
i = 1, .., n 1.
(13)
F1a
Fa
s
F2a
= Tf T 1
...
...
s
Fna
Tn1
(14)
Tf =
n1
Y
1n1i
ni
i=1
Tf
(15)
1i1
1 0 0 0
0 0 1 0
2
B4 =
(18)
0 1 0 0
0 0 0 1
2
B 4 04
2
B8 =
(19)
04 14
1 0 0 0 0 0 0 0
0 0 0 0 1 0 0 0
0 1 0 0 0 0 0 0
0 0 0 0 0 1 0 0
3
B8 =
(20)
0 0 1 0 0 0 0 0
0 0 0 0 0 0 1 0
0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 1
3
B 8 08
3
B16 =
(21)
08 18
It should be noted that, for the typical three to four outputs (for
robotic hands), the tree is either serial or symmetrical; no other
layout is possible. For three outputs, only the serial layout
is possible. Hence, if the differential stages are numbered as
indicated in Fig. 11(a), one has
a
Fa
1 f
F1
T
0 s
F2a = 1 2 0 f
T1
(22)
0
T
0
1
a
F3
T2s
1 f
1 f
T1,1
T1,2
0
2 f 1 f
f
f
f
T1,1 T2,1 2 T1,1 1 T2,2 2 T1,2
2 f 1 f
2 f 1 f
2 f
T2,1 T2,1
T2,1 T2,2
T2,2
(23)
f
where k Ti,j
is the component on the ith line and j th column
k f
of matrix T . If the effect of the springs can be neglected,
i.e., T1s = T2s = 0, the latter equation becomes
a
1 f
T1,1
F1
f
f
F2a =
(24)
2 T1,1 1 T2,1 Fa .
a
2 f 1 f
F3
T2,1 T2,1
F1
1 0
0
1
0
0
F2a
a = 0 1
0 0 2 Tf 0
F3
3 f
0 0
T
0
0
1
F4a
(25)
1 f
F
T
0 0 as
T1
0
1 0
T2s
0
0 1
T3s
and thus, the global transmission matrix is
1 f
1 f
T1,1
T1,2
0
2 f 1 f
2 f 1 f
2 f
T
T
T1,1 T2,2
T1,2
3 f 21,1 f 12,1 f
f 2 f 1 f
f 2 f
T1,1 T2,1 T2,1 3 T1,1
T2,1 T2,2 3 T1,1
T2,2
f 2 f 1 f
f 2 f
3 f 2 f 1 f
T2,1 T2,1 T2,1 3 T2,1
T2,1 T2,2 3 T2,1
T2,2
a =
Fa .
(30)
F3 3 T f 1 T f
1,1
2,1
3 f 1 f
F4a
T
T
2,1
2,1
0
0
.
3 f
T1,2
3 f
T2,2
(26)
If the effect of the springs is negligible, eq. (25) becomes
1,1
a
And conversely, if F2a is now the input, one obtains
1 f
T1,1
F1
#
"
2 f 1 f
f
F2a
T1,1 T2,1
1
1
T
F
F2a
a =
a
2,2
F
.
(27)
a
.
(32)
=
f
f
f
3
2
1
F3 T
f
f
F1a
Ts
T1,1
det Tf
1,1 T2,1 T2,1
T2,1
a
3 f 2 f 1 f
F4
T2,1 T2,1 T2,1
V. A PPLICATIONS
If a symmetrical layout is selected, one obtains
A. Underactuated gripper
a
1 0 0 0
F1
The design considered in this section is illustrated in
2 f
F2a
0 0 1 0
T
0
12 and 13. Similar underactuated grippers have been
Figs.
a =
3 f
0 1 0 0
F3
0
T
presented in [15] and [17]. Two underactuated linkage-driven
F4a
0 0 0 1
(28) fingers consisting of two phalanges are actuated through a
F
a
seesaw mechanism as presented in Section II-B.
1 f
s
T
T
0
1
0
1 T2s
1) Force-isotropic design: seesaw mechanisms usually proT3s
vide different values of force outputs, i.e., no force-isotropy
except possibly in isolated configurations. However, this charand the global transmission matrix is
acteristic can be of use to obtain force-isotropic grasps in
2 f 1 f
non-symmetrical situations. Indeed, if the typical grasped
f 1 f
f
T1,1 T1,1 2 T1,1
T1,2 2 T1,2
0
object is not symmetrical and/or the contact points are not
2Tf 1Tf
f
2 f 1 f
T2,1 T1,2 2 T2,2
0
2,1
1,1
(29) symmetrically located with respect to axis of the gripper, the
.
3 f 1 f
f 1 f
3 f
T1,1 T2,1 3 T1,1
T2,2
0
T1,2
contact forces will not be equal if the actuation torque induced
f 1 f
3 f 1 f
3 f
T2,1 T2,1 3 T2,1
T2,2
0
T2,2
at the base of each finger is identical. Hence, to generate a
f4
f2 f3
f1
(k1 , k2 , k3 , k4 , 1 , 2 , 3 , 4 ) =
(33/128, 1/2, 2/3, 1/2, /2, /6, /3, /3)
Fa
Fig. 12.
Underactuated gripper.
(e1 , e2 , c1 , c2 , r1 , r2 , a1 , a2 ) =
(1/2, 1/2, 1/3, 1/3, 1, 1, 17/20, 17/20)
k4
k2
l1
(34)
k3
k1
a
F1a
c1
c2
O1
F2a
O2
2a
d1
r1
e1
e2
r2
(35)
to generate a force-isotropic grasp (the spring in the differential stage is neglected in this section), with
di = ci sin(i ia ) i = 1, 2.
4
2
d 2 b1
d2 a1 sin(1 )
f1
=
=
d 1 b2
d1 a2 sin(2 )
f3
(40)
(33)
l2
d2 F2a
f1
=
d1 F1a
f3
(39)
(38)
(37)
N
Fa
Fig. 13.
T T
f1
JL TL dL
0
f2
f3 =
T
(41)
0
JT
T
d
R
R
R
f4
b2 /c (sin 2 )/c
Fa
b1 /c (sin 1 )/c
Ts
which is the equation defining the contact forces as functions
of the input actuation force Fa . Matrices JL and JR are the
Jacobian matrices of the grasp [9] for, respectively, the left
and right fingers. Similarly, TL and TR are the kinematic
Transmission matrices of the left and right fingers [9]. Vectors
dL and dR are defined as
d1
d2
dL =
, dR =
.
(42)
TLs
TRs
The torques of the spring of the left and right fingers are
respectively denoted TLs and TRs . An index of interest could
thereupon be defined as the ratio of the total grasp force to
the actuation force, namely
!
Z
4
X
fi d a
I=
i=1
with
(l2 2h1 cos 2 ) + h1 )
h1 + l 1
(l2 2h2 cos 4 ) + h2
B = b1 d 2
h2 + l 1
A = b2 d 1
e1 = e2 = c1 = c2 = 1/2
(48)
(43)
1.3
1.2
1.1
1
Index I
32
[A + B]
l2 c 4
(47)
Fa d a
I? =
(46)
0.9
0.8
0.7
0.6
0.5
0.4
0.5
Fig. 14.
0.6
0.7
0.8
0.9
1
a*
1.1
1.2
1.3
1.4
1.5
Index I as a function of a? .
TABLE I
Geometric parameters
l1
1
l2
2/3
90
a
1
b
1
c
1/3
Fig. 15. Compliant sub-centimeter surgical gripper using a seesaw mechanism (from [19]).
r2
sin 4
0
0
c2
c2
r3 r2
r3 sin 3
sin 6
0
c c
c3 c2
c3
(49)
3 2
r r r
sin 8
4 3 2 r4 r3 sin 3 r4 sin 5
c4 c3 c2
c4 c3
c4
c4 c3 c2
r r r
r4 r3 sin 3
r4 sin 5
sin 7
4 3 2
c4 c3 c2
c4 c3 c2
c4 c3
c4
with
F2a
F3a
F4a
(50)
2i = 2 2 arctan
2d+ri
2 2
h4 + d r4 +h4 )2
8 = 2 2 arctan
d+r4
(51)
for i = 2, 3, and
2i1
F5a
c2 = r2 (sin 3 + sin 4 )
c3 = r3 (sin 5 + sin 6 )
c4 = r4 (sin 7 + sin 8 )
= + 2 arctan
2
hi +
d2 ri2 + h2i
d + ri
!
(52)
h4
h3
h2
r4
r1
r3
serial routing
symmetrical routing
r2
Fa
Fig. 16.
r3 r2
r2
Fa , F3a =
Fa ,
c2
c3 c2
r4 r3 r2
r4 r3 r2
F4a =
Fa , F5a =
Fa .
c4 c3 c2
c4 c3 c2
F2a =
(53)
10
2) Symmetrical routing: The expression of the global transmission matrix if a symmetrical routing is chosen is
r1 r2
c1 c2
r1 r2
c1 c2
r3 r2
c3 c2
r3 r2
c3 c2
r1 sin 4
c1 c2
r1 sin 4
c1 c2
r3 sin 3
c3 c2
r3 sin 3
c3 c2
sin 2
c1
sin 1
c1
0
0
User handle
0
0
sin 5
c3
sin 5
c3
(55)
Pulleys
hi + d2 ri2 +h2i
2i1 = 2 + 2 arctan
d+ri
2i = 2 2 arctan
2d+ri
(56)
for i = 1, 3, and
2 2
2
2
2d+r2
2 2
(h2 h3 )+ (2d) r2 +(h2 h1 )2
.
4 = 2 2 arctan
2d+r2
(57)
If the springs are neglected, the expressions of the output
forces are
r1 r2
r1 r2
Fa , F2a =
Fa ,
c1 c2
c1 c2
r2 r3
r2 r3
F3a =
Fa , F4a =
Fa .
c2 c3
c2 c3
F1a =
(58)
Underactuated fingers
(59)
Fig. 17.
VI. C ONCLUSIONS
In this paper, a methodology was proposed for the analysis
of the force capabilities of common differential mechanisms
used to extend the principle of underactuation from the fingers
to the hand itself. In the first part of the paper, several
differential elements, most noticeably used in robotic hands to
provide underactuation between a certain number of fingers,
were presented. A simple matrix formulation was developed
to obtain the relationship between the actuation and output
forces of the devices. Then, a mathematical method to obtain
the output force capabilities of connected differential mechanisms was presented. The application of the method to the
analysis of strictly serial and fully symmetrical transmission
trees was presented. Two examples were then analyzed using
the technique presented in the paper: first an underactuated
gripper and second a multiple pulley routing. The mathematical expressions of the transmission tree characterizing the
underactuated system considered are fundamentally different
from the Transmission matrix arising when one considers
underactuation in the fingers instead of between them. To
the best of the authors knowledge, the force capabilities of
connected differential mechanisms are mathematically studied
here for the first time.
ACKNOWLEDGMENTS
The financial support of the Natural Sciences and Engineering Research Council of Canada (NSERC) and the Canada
Research Chair Program is acknowledged.
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