Parallel Mechanisms in Grasping Devices

Winter School EURON

Gert A. Kragten

December 15, 2022

Faculty of Mechanical, Maritime and Materials Engineering (3mE)

Vermelding onderdeel organisatie
Department of BioMechanical Engineering (BMechE)
Delft University of Technology

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Delft University of Technology
Department of BioMechanical Engineering

BioMechatronics & BioRobotics Prosthetic devices[2]

Haptics[3]
Walking robots[1]

Static and dynamic

balancing[2]

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[1] Martijn Wisse et al.

[2] Just L. Herder et al.
[3] Göran A.V. Christiansson et al.
MSc thesis
Performance of Underactuated Grasping Devices[1]

Fact 1 DoA; 2 DoF

• Underactuation DoA < DoF

• Promising object
• Shape adaptation
θ1
• Reduction of actuators
Fc,1
θ2
• Drawback Fc,2
• Controllability  Grasp Performance?
 Mechanical Design?
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[1] submitted to ASME, DETC2007

Grasp Performance (MSc thesis)

Innovation:
• Combine performance aspects
• Apply to underactuated mechanisms

Grasp Performance Aspects

1. Equilibrium – free moving objects, underactuated fingers
2. Stability – position disturbances of grasped object
3. Robustness – force disturbances of grasped object

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Grasp Robustness (MSc thesis)
• External forces on object (task-dependent)
• Maintain equilibrium (object and mechanism)
• Passive adaptation of
contact forces Fact
object

θ1 Fdist.
μ1Fc,1 Mdist.
μ2Fc,2
FFc,1
c,1
θ2 FF
c,2
c,2
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Results (MSc thesis)

• Simulation model (MATLAB):

• Predict grasp performance
• Mechanical design for optimal performance

• Robustness of underactuated fingers

• Appropriate at force disturbances
• Poor at torsion

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PhD thesis
Design of versatile grasping concepts for distribution centres

• Automatic picking of many different items (>2000 SKU’s)

• Versatile mechanisms for grasping (pick and place)

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Parallel Robots in Distribution Centre

Robot Arms Robotic Grippers

[1]

2 Serial 1 Parallel
Mechanisms Mechanism
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[1] Example; 340 parallel robot arm of ABB

Gripper Design

Requirements Analysis
• Versatility • Kinematics
• Grasp Robustness • Dynamics

Conceptual Designs

Ideas, Approaches
• Bio-inspiration
• Winter School
• Brainstorm

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Thanks for your attention

Fact 1 DoA; 2 DoF

object

θ1

Fc,1
θ2
Fc,2

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