Modeling and Analysis of Stable Contact States in the Anthropomorphic Robotic Hand with Soft Materials and Rigid Structures

Author:

Li Yongyao123ORCID,Liu Yufei123,Li Qingzhan23,Zeng Yi23,Yin Chengxin23,Sun Zeyuan123,Zheng Dongdong234,Du Yu5,Cong Ming6,Jiang Lei123

Affiliation:

1. Unmanned Vehicle Research Center, China North Vehicle Research Institute, Beijing 100072, China

2. China North Artificial Intelligence & Innovation Research Institute, Beijing 100072, China

3. Collective Intelligence & Collaboration Laboratory, Beijing 100072, China

4. Beijing Institute of Technology, School of Automation, Beijing 100081, China

5. School of Mechanical Engineering, Dalian Jiaotong University, Dalian 116028, China

6. School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China

Abstract

Conducting contact state analysis enhances the stability of object grasping by an anthropomorphic robotic hand. The incorporation of soft materials grants the anthropomorphic robotic hand a compliant nature during interactions with objects, which, in turn, poses challenges for accurate contact state analysis. According to the characteristic of the anthropomorphic robotic hand’s compliant contact, a kinetostatic modeling method based on the pseudo-rigid-body model is proposed. It can realize the mapping between contact force and driving torque. On this basis, the stable contact states of the anthropomorphic robotic hand under the envelope grasping mode are further analyzed, which are used to reasonably plan the contact position of the anthropomorphic robotic hand before grasping an object. Experimental results validate the efficacy of the proposed approach during grasping and ensure stable contact in the initial grasping stage. It significantly contributes to enhancing the reliability of the anthropomorphic robotic hand’s ability to securely grasp objects.

Funder

National Natural Science Foundation of China

China Postdoctoral Science Foundation

Publisher

MDPI AG

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