Kinetic and dimensional optimization for a tendon-driven gripper

Abstract

A tendon-driven robotic gripper is disclosed for performing fingertip and enveloping grasps. One embodiment comprises two fingers, each with two links, and is actuated using a single active tendon. During unobstructed closing, the distal links remain parallel, creating exact fingertip grasps. Conversely, if the proximal links are stopped by contact with an object, the distal links start flexing, creating a stable enveloping grasp. The route of the active tendon and the parameters of the springs providing passive extension forces are optimized in order to achieve this behavior. An additional passive tendon is disclosed that may be used as a constraint preventing the gripper from entering undesirable parts of the joint workspace. A method for optimizing the dimensions of the links in order to achieve enveloping grasps of a large range of objects is disclosed and applied to a set of common household objects.

1 . A robotic system, comprising:
 a motor pack, the motor pack comprising:
 housing; 
 an electric motor housed by the housing; 
 an actuation piston fitting; 
 a transmission assembly that drivingly couples the electric motor to the piston fitting to cause the actuation piston fitting to alternatively insert and retract, and 
 a tool-less coupling mechanism where at least a first kinematic assembly is detachably coupleable to the motor pack to be driven thereby without any wires or electrical contacts or tools.