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Full-Text Articles in Engineering
Precision Grasp Using An Arm-Hand System As A Hybrid Parallel-Serial System: A Novel Inverse Kinematics Solution, Shuwei Qiu, Shuwei Qiu Ph.D., P.Eng.
Precision Grasp Using An Arm-Hand System As A Hybrid Parallel-Serial System: A Novel Inverse Kinematics Solution, Shuwei Qiu, Shuwei Qiu Ph.D., P.Eng.
Electrical and Computer Engineering Publications
In this letter, we present a novel inverse kinematics (IK) solution for a robotic arm-hand system to achieve precision grasp. This problem is kinematically over-constrained and to address the issue and to solve the problem, we propose a new approach with three key insights. First, we propose a human-inspired thumb-first strategy and consider one finger of the robotic hand as the “thumb” to narrow down the search space and increase the success rate of our algorithm. Second, we formulate the arm-thumb serial chain as a closed chain such that the entire arm-hand system is controlled as a hybrid parallel-serial system. …
Development Of Mr Clutch For A Prospective 5-Dof Robot, Sergey Pisetskiy, Mehrdad Kermani Ph.D., P.Eng.
Development Of Mr Clutch For A Prospective 5-Dof Robot, Sergey Pisetskiy, Mehrdad Kermani Ph.D., P.Eng.
Electrical and Computer Engineering Publications
This paper presents an improved design approach for the construction of a Magneto-Rheological (MR) clutch intended to be used in a prospective 5 degrees of freedom robot. The MR clutch features embedded Hall sensors for intrinsic torque control. After a brief description of the MR clutch principles, the details of the mechanical design are discussed. Simulation and preliminary experimental results demonstrate the main characteristics and advantages of the proposed MR clutch.
Grasp Evaluation Method For Applying Static Loads Leading To Beam Failure, Mahyar Abdeetedal, Mehrdad Kermani Ph.D., P.Eng.
Grasp Evaluation Method For Applying Static Loads Leading To Beam Failure, Mahyar Abdeetedal, Mehrdad Kermani Ph.D., P.Eng.
Electrical and Computer Engineering Publications
This paper deals with the problem of purposefully failing or yielding an object by a robotic gripper. We propose a grasp quality measure fabricated for robotic harvesting in which picking a crop from its stem is desired. The proposed metric characterizes a suitable grasp configuration for systematically controlling the failure behavior of an object to break it at the desired location while avoiding damage on other areas. Our approach is based on failure task information and gripper wrench insertion capability. Failure task definition is accomplished using failure theories. Gripper wrench insertion capability is formulated by modeling the friction between the …