Structural synthesis of hands for grasping and manipulation tasks

Autores
Tamini, Alí; Perez-Gracia, Alba; Pucheta , Martín Alejo
Año de publicación
2017
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
In the kinematic synthesis of multi-fingered robotic hands for a specific task, the selection of the hand topology is an important step. Considerable research efforts have been directed to the structural synthesis of hand topologies for satis fying grasping and manipulation metrics such as mobility and force closure. In this work, we develop a structural synthesis, isomorphism-free enumeration method that combines the solvability for rigid-body guidance with the grasping and manipula tion metrics, for general hands with a tree structure. An algorithmic implementation of the methodology is presented and illustrated with validation examples.
Fil: Tamani, Alí. Idaho State University. Departament of Mechanical Engineering; Estados Unidos.
Fil: Pérez-Gracia, Alba. Idaho State University. Departament of Mechanical Engineering; Estados Unidos.
Fil: Pucheta, Martín Alejo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigaciones en Informática para la Ingeniería; Argentina.
Materia
Multi-fingered robotic hands
Dexterous grasping
Structural synthesis
Spatial dimensional synthes
Nivel de accesibilidad
acceso abierto
Condiciones de uso
Attribution-NonCommercial-NoDerivatives 4.0 International
Repositorio
Repositorio Institucional Abierto (UTN)
Institución
Universidad Tecnológica Nacional
OAI Identificador
oai:ria.utn.edu.ar:20.500.12272/13215
Acceder
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network_acronym_str RIAUTN
repository_id_str a
network_name_str Repositorio Institucional Abierto (UTN)
spelling Structural synthesis of hands for grasping and manipulation tasksTamini, AlíPerez-Gracia, AlbaPucheta , Martín AlejoMulti-fingered robotic handsDexterous graspingStructural synthesisSpatial dimensional synthesIn the kinematic synthesis of multi-fingered robotic hands for a specific task, the selection of the hand topology is an important step. Considerable research efforts have been directed to the structural synthesis of hand topologies for satis fying grasping and manipulation metrics such as mobility and force closure. In this work, we develop a structural synthesis, isomorphism-free enumeration method that combines the solvability for rigid-body guidance with the grasping and manipula tion metrics, for general hands with a tree structure. An algorithmic implementation of the methodology is presented and illustrated with validation examples.Fil: Tamani, Alí. Idaho State University. Departament of Mechanical Engineering; Estados Unidos.Fil: Pérez-Gracia, Alba. Idaho State University. Departament of Mechanical Engineering; Estados Unidos.Fil: Pucheta, Martín Alejo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigaciones en Informática para la Ingeniería; Argentina.Springer2025-06-10T15:57:22Z2017info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articulopdfapplication/pdfAdvances in robot kinematicshttps://hdl.handle.net/20.500.12272/13215enginfo:eu-repo/semantics/openAccessAttribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/Martín Alejo Puchetareponame:Repositorio Institucional Abierto (UTN)instname:Universidad Tecnológica Nacional2026-10-01T11:58:57Zoai:ria.utn.edu.ar:20.500.12272/13215instacron:UTNInstitucionalhttp://ria.utn.edu.ar/Universidad públicaNo correspondehttp://ria.utn.edu.ar/oaigestionria@rec.utn.edu.ar; fsuarez@rec.utn.edu.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:a2026-10-01 11:58:58.149Repositorio Institucional Abierto (UTN) - Universidad Tecnológica Nacionalfalse
dc.title.none.fl_str_mv Structural synthesis of hands for grasping and manipulation tasks
title Structural synthesis of hands for grasping and manipulation tasks
spellingShingle Structural synthesis of hands for grasping and manipulation tasks
Tamini, Alí
Multi-fingered robotic hands
Dexterous grasping
Structural synthesis
Spatial dimensional synthes
title_short Structural synthesis of hands for grasping and manipulation tasks
title_full Structural synthesis of hands for grasping and manipulation tasks
title_fullStr Structural synthesis of hands for grasping and manipulation tasks
title_full_unstemmed Structural synthesis of hands for grasping and manipulation tasks
title_sort Structural synthesis of hands for grasping and manipulation tasks
dc.creator.none.fl_str_mv Tamini, Alí
Perez-Gracia, Alba
Pucheta , Martín Alejo
author Tamini, Alí
author_facet Tamini, Alí
Perez-Gracia, Alba
Pucheta , Martín Alejo
author_role author
author2 Perez-Gracia, Alba
Pucheta , Martín Alejo
author2_role author
author
dc.subject.none.fl_str_mv Multi-fingered robotic hands
Dexterous grasping
Structural synthesis
Spatial dimensional synthes
topic Multi-fingered robotic hands
Dexterous grasping
Structural synthesis
Spatial dimensional synthes
dc.description.none.fl_txt_mv In the kinematic synthesis of multi-fingered robotic hands for a specific task, the selection of the hand topology is an important step. Considerable research efforts have been directed to the structural synthesis of hand topologies for satis fying grasping and manipulation metrics such as mobility and force closure. In this work, we develop a structural synthesis, isomorphism-free enumeration method that combines the solvability for rigid-body guidance with the grasping and manipula tion metrics, for general hands with a tree structure. An algorithmic implementation of the methodology is presented and illustrated with validation examples.
Fil: Tamani, Alí. Idaho State University. Departament of Mechanical Engineering; Estados Unidos.
Fil: Pérez-Gracia, Alba. Idaho State University. Departament of Mechanical Engineering; Estados Unidos.
Fil: Pucheta, Martín Alejo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigaciones en Informática para la Ingeniería; Argentina.
description In the kinematic synthesis of multi-fingered robotic hands for a specific task, the selection of the hand topology is an important step. Considerable research efforts have been directed to the structural synthesis of hand topologies for satis fying grasping and manipulation metrics such as mobility and force closure. In this work, we develop a structural synthesis, isomorphism-free enumeration method that combines the solvability for rigid-body guidance with the grasping and manipula tion metrics, for general hands with a tree structure. An algorithmic implementation of the methodology is presented and illustrated with validation examples.
publishDate 2017
dc.date.none.fl_str_mv 2017
2025-06-10T15:57:22Z
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv Advances in robot kinematics
https://hdl.handle.net/20.500.12272/13215
identifier_str_mv Advances in robot kinematics
url https://hdl.handle.net/20.500.12272/13215
dc.language.none.fl_str_mv eng
language eng
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
Martín Alejo Pucheta
eu_rights_str_mv openAccess
rights_invalid_str_mv Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
Martín Alejo Pucheta
dc.format.none.fl_str_mv pdf
application/pdf
dc.publisher.none.fl_str_mv Springer
publisher.none.fl_str_mv Springer
dc.source.none.fl_str_mv reponame:Repositorio Institucional Abierto (UTN)
instname:Universidad Tecnológica Nacional
reponame_str Repositorio Institucional Abierto (UTN)
collection Repositorio Institucional Abierto (UTN)
instname_str Universidad Tecnológica Nacional
repository.name.fl_str_mv Repositorio Institucional Abierto (UTN) - Universidad Tecnológica Nacional
repository.mail.fl_str_mv gestionria@rec.utn.edu.ar; fsuarez@rec.utn.edu.ar
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score 13.365483

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