Analysis of Underactuated Mechanical Grippers

[+] Author and Article Information
Serge Montambault, Clément M. Gosselin

Département de Génie Mécanique Université Laval Québec (Québec), Canada, G1K 7P4e-mail: gosselin@gmc.ulaval.ca

J. Mech. Des 123(3), 367-374 (Jul 01, 1998) (8 pages) doi:10.1115/1.1374198 History: Received July 01, 1998
Copyright © 2001 by ASME
Your Session has timed out. Please sign back in to continue.


Jacobsen,  S. C., Wood,  J. E., Knutti,  D. F., Biggers,  K. B., 1984, “The Utah/MIT hand: Work in Progress,” Int. J. Robot. Res., 3, No. 4, pp. 21–50.
Jacobsen, S. C., Iversen, E. K., Knutti, D. F., Johnson, R. T., and Biggers, K. B., 1986, “Design of the Utah/MIT Dextrous Hand,” Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, pp. 1520–1532.
Salisbury,  J. K., and Craig,  J. J., 1982, “Acticulated Hands: Force Control and Kinematic Issues,” Int. J. Robot. Res., 1, No. 1, pp. 4–17.
Okada,  T., 1979, “Object-Handling System for Manual Industry,” IEEE Trans. Syst. Man Cybern., 9, No. 2, pp. 79–89.
Okada,  T., 1982, “Computer Control of Multijointed Finger System for Precise Object-Handling,” IEEE Trans. Syst. Man Cybern., 12, No. 3, pp. 289–299.
Ulrich,  N., and Kumar,  V., 1988, “Grasping Using Fingers with Coupled Joints,” Proceedings of the 1988 ASME, Trends and Developments in Mechanisms, Machines and Robotics, 3, pp. 201–207.
Ulrich, N., Paul, R., and Bajcsy, R., 1988, “A Medium Complexity Compliant End Effectors,” Proceedings of the 1988 IEEE Conference on Robotics and Automation pp. 434–436.
Crisman, J. D., Kanojia, C., and Zeid, I., 1996, “GRASPAR: A Flexible, Easily Controllable Robotic Hand,” IEEE Robotics and Automation Magazine, June, pp. 32–38
Tomovic,  R., and Boni,  G., 1962, “An Adaptive Artificial Hand,” IRE Trans. Auto. Control,7, No. 1, pp. 3–10.
Bekey, G. A., Tomovic, R., and Zeljkovic, I., 1990, “Control Architecture for the Belgrad/USC Hand,” in Dextrous Robot Hands (S. T. Venkataraman and T. Ibeall, eds.), Springer-Verlag, New York, pp. 136–153.
Ichiro, K., 1982, “Mechanical Hands Illustrated,” Survey Tokyo, 155 pages.
Grupen,  R. A., Henderson,  T. C., and McCammon,  I. D., 1989, “A Survey of General Purpose Manipulation,” Int. J. Robot. Res., 8, No. 1, pp. 38–62.
Guo,  G., Gruver,  W. A., and Qian,  X., 1992, “A New Design for a Dextrous Robotic Hand Mechanism,” IEEE Control Syst. Mag., August 12, No. 4, pp. 35–38.
Phillips, C. G., 1986, Movements of the Hand, Liverpool University press.
Tubiana, R., and Thomie, J.-M., 1990, La main: anatomie fonctionnelle et examen clinique, Editions Masson, Paris.
Itoh, H., 1975, “Mechanical Hand,” US Patent 3927424.
Crowder, R. M., and Whatley, D. R., 1989, “Robotic Gripping Device Having Linkage Actuated Finger Sections,” US Patent 4834443.
Crowder,  R. M., 1991, “An Anthropomorphic Robotic End Effector,” Rob. Auton. Syst., 7, pp. 253–268.
Caldwell, D. G., and Lavest, B., 1991, “A Multi-degree of Freedom Hand Powered by Two Actuators,” Proceedings of the 1991 International Conference on Control, pp. 57–62.
Bartholet S. J., 1992, US Patent Number: 5,108,140.
Gosselin, C., and Laliberté, T., 1998, “Underactuated Mechanical Finger with Return Actuation,” US Patent 5762390.
Mullen, J. F., 1972, “Mechanical Hand,” US Patent 3694021.
Hirose,  S., and Umetami,  Y., 1978, “The Development of Soft Gripper for the Versatile Robot Hand,” Mech. Mach. Theory, 13, pp. 351–359.
Rovetta,  A., 1979, “On Biomechanics of Human Hand Motion in Grasping: A Mechanical Model,” Mech. Mach. Theory, 14, pp. 25–29.
Rovetta,  A., 1981, “On Functionality of a New Mechanical Hand,” ASME J. Mech. Des., 103, pp. 277–280.
Rakic,  M., 1989, “Multifingered Robot Hand with Selfadaptability,” Rob. Comput.-Integr. Manufact., 5, No. 2/3, pp. 269–276.
De Sam Lazaro, A., 1990, “Multifingered Gripping (robotic hands),” Proceedings of Manufacturing International, Atlanta, pp. 193–198.
Erb, R. A., 1992, “Hand with Conformable Grasp,” US Patent 3080681.
Graham, D. F., 1993, “Artificial Hand and Digit Therfore,” US Patent 5200679.
Shimojima,  H., Yamamoto,  K., and Kawakita,  K., 1987, “A Study of Grippers with Multiple Degrees of Mobility,” JSME Int. J., 30, No. 201, pp. 515–522.
Lee, S., 1990, “Artificial Dexterous Hand,” US Patent 4946380.
Arai,  H., and Tachi,  S., 1991, “Position Control of a Manipulator with Passive Joints Using Dynamic Coupling,” IEEE Trans. Rob. Autom., 7, No. 4, pp. 528–534.
Arai,  H., Tanie,  K., and Tachi,  S., 1993, “Dynamic Control of a Manipulator with Passive Joints in Operational Space,” IEEE Trans. Rob. Autom., 9, No. 1, pp. 85–93.
Leaver, S. O., and McCarthy, J. M., 1987, “The Design of Three Jointed Two-Degree-of-Freedom Robot Fingers,” Proceedings of the ASME Design Technology Conferences - The Design Automation Conference, pp. 127–133.
Shirkohdaie, H., and Soni, A. H., 1988, “Manipulation and Simulation of Five-Finger Robot Hand with Coupled Joints,” Proceedings of the USA-Japan Symposium on Flexible Automation Crossing Bridges: Advances in Flexible Automation and Robotics pp. 515–521.
Guo, G., Lee, T. T., Gruver, W. A., and Zhang, J., 1990, “Design of a Planar Multijointed Prosthetic Finger Mechanism,” Proceedings of the ASME Mechanisms Conference, DE-Vol. 26, pp. 165–170.
Guo,  G., Qian,  X., and Gruver,  W. A.,1992b, “A Single-dof Multi-Function Prosthetic Hand Mechanism with an Automatically Variable Speed Transmission,” Proceedings of the ASME Mechanisms Conference 45, pp. 149–154.
Zhang,  J., Guo,  G., and Gruver,  W. A., 1992, “Optimal Design of a Six-bar Linkage for an Antropomorphic Three-jointed Finger Mechanism,” Proceedings of the ASME Mechanisms Conference, 45, pp. 299–304.
Ali, M. S., Kyriakopoulos, K. J., and Stephanou, H. E., 1993, “The Kinematics of Anthrobot-2 Dextrous Hand,” Proceedings of the IEEE Conference on Robotics and Automations, Atlanta, pp. 705–710.
Montambault, S., 1997, “Analyse et optimisation de préhenseurs mécaniques sous-actionnés,” Ph.D Thesis, Université Laval, Québec, Canada.
Chao,  E. Y., Opgrande,  J. D., and Axmear,  F. E., 1976, “Three-dimensional Force Analysis of Finger Joints in Selected Isometric Hand Functions,” J. Biomech., 9, pp. 387–396.
Cutkosky,  M. R., 1989, “On Grasp Choice, Grasp Models, and the Design of Hands for Manufacturing Tasks,” IEEE Trans. Rob. Autom., 5, No. 3, pp. 269–279.
Angeles,  J., 1985, “On the Numerical Solution of the Inverse Kinematic Problem,” Int. J. Robot. Res., 4, No. 2, pp. 21–37.
Harary, F., 1969, Graph Theory, Addison-Wesley Publishing Company Inc.
Hunt, K. H., 1978, Kinematic Geometry of Mechanisms, Clarendon Press, Oxford.
Sinatra,  R., and Angeles,  J., 1995, “A New Tool in the Teaching of Planar Mechanism and Machine Theory,” Proceedings of the Ninth World Congress on the Theory of Machines and Mechanisms, Milan, 4, pp. 3181–3186.
Kaneko, M., and Hayashi, T., 1993, “Standing-up Characteristic of Contact Force During Self-posture Changing Motions,” Proc. IEEE Int. Conf. on Rob. and Auto., pp. 202–208.
Kaneko, M., and Tanie, K., 1990, “Contact Point Detection for Grasping of an Unknown Object Using Self-posture Changeability (SPC),” Proceedings of the IEEE International Conference on Robotics and Automation, pp. 864–869.


Grahic Jump Location
Planar two-dof underactuated mechanism
Grahic Jump Location
Planar four-dof gripper
Grahic Jump Location
Example of an unfeasible power grasp; (a) movement; (b) return to stability; (c) object ejection
Grahic Jump Location
Actuator and spring torques as functions of the force on distal phalanx
Grahic Jump Location
Force on the distal phalanx as a function of fm
Grahic Jump Location
Torque at the passively actuated joint as a function of fm
Grahic Jump Location
Free-body diagram of the distal phalanx
Grahic Jump Location
Examples of the two grasps studied; (a) power grasp; (b) pinch grasp
Grahic Jump Location
Notation used for the analysis of the planar two-dof underactuated mechanism
Grahic Jump Location
Schematic representation of the studied configurations; (a) power grasp; (b) pinch grasp
Grahic Jump Location
Grasping forces as a function of the actuator torque



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In