Computational Design of Reconfigurable Underactuated Linkages for Adaptive Grippers
Ivan I. Borisov,Evgenii E. Khomutov,Sergey A. Kolyubin,Stefano Stramigioli,Ivan I. Borisov,Evgenii E. Khomutov,Sergey A. Kolyubin,Stefano Stramigioli
We present an optimization-based structural-parametric synthesis method for reconfigurable closed-chain underactuated linkages for robotic systems that physically interact with the environment with an emphasis on adaptive grasping. The key idea is to implement morphological computation concepts to keep both necessary trajectory-specific holonomic constraints and mechanism adaptivity using variable...
