Grasping Stability Analysis of an Underactuated Three Finger Adaptive Gripper on Matlab Sim-Mechanics

Abstract

A stable robotic hand grasp is a rich challengable research field where hundreds of research papers are still carried out with different control algorithm. To overcome the challenge of predicting the model of the robotic manipulator, the object geometrical and physical properties being held and the contact between them. Finally being able to grasp the objects in a stable manner without causing any deformation to the object. In this paper we present a simulation analysis and a contact model of a three finger underacted gripper driven by unextensible tendon actuated with a DC servo motor, managing to hold different objects with known properties. Numerous tests and grasped objects(sizes and shapes) were conducted in our simulation. A comparison was held between the grasping parameters for each grasp where a proper performance was achieved assuming that the objected control was carried out in the Simulink/SimMechanics platform. Implementing the gripper in real world and comparing them to simulation results will be the next demand soon.