Mobility and connectivity analysis of a multi finger tendon driven robotic gripper

摘要

Mobility is a fundamental parameter of mechanisms expressing their kinematic and dynamic properties in a qualitative manner. For a mechanical hand-object system the mobility number serves as a criterion for dexterous manipulation. Connectivity of a link in a mechanism determines its ability to perform task relative to frame. In present work a newly developed multi finger gripper is analyzed in terms of its mobility and connectivity by considering various shape objects for grasping and manipulation. Modified version of Grubler's formula is used for the purpose. The objects taken under consideration are a circular disc, a triangular polygon and a quadrilateral polygon. The contact point between gripper and object is assumed to be a point contact with or without friction. The gripper-object configuration is characterized and manipulation capability of the gripper is examined as redundant or defective.