Design optimization of an underactuated tendon-driven anthropomorphic hand based on grasp quality measures

Autor:	Hirakjyoti Basumatary, Shyamanta M. Hazarika
Rok vydání:	2022
Předmět:	Control and Optimization Control and Systems Engineering General Mathematics Mechanical Engineering Modeling and Simulation Software Computer Science Applications
Zdroj:	Robotica. 40:4056-4075
ISSN:	1469-8668 0263-5747
Popis:	For an underactuated anthropomorphic hand, apart from replicating the geometry, biomimicry of human counterpart requires design based on functional biomimesis. Optimization based on grasping capabilities to generate a stable grasp for underactuated anthropomorphic hands has been a recent focus. In this article, we optimize the actuation parameters of the underactuated mechanism based on grasp quality measures. Optimization of the hand design parameters like pulley radii, spring stiffnesses, and pre-load angles was undertaken based upon the grasp robustness metric. A quasi-static model based on a soft synergistic compliant grasp of the underactuated hand is formalized. Numerical simulations based on evolutionary strategies are applied to the grasp model to optimize the underactuated parameters. Finally, validation of the results based on the grasp wrench space is presented. The results show that an anthropomorphic hand with an optimized underactuated mechanism performs better grasps.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::3a0991c9b633b606fc64554ced12054b https://doi.org/10.1017/s0263574722000753 Zobrazit plný text záznamu