This paper presents a novel fingertip system with a two-layer structure for robotic hands. The outer part of the structure consists of a rubber bag filled with fluid, called the “fluid fingertip,” while the inner part consists of a rigid link mechanism called a “microgripper.” The fingertip thus is a rigid/fluid hybrid system. The fluid fingertip is effective for grasping delicate objects, that is, it can decrease the impulsive force upon contact, and absorb uncertainties in object shapes and contact force. However, it can only apply a small grasping force such that holding a heavy object with a robotic hand with fluid fingertips is difficult. Additionally, contact uncertainties including inaccuracies in the contact position control cannot be avoided. In contrast, rigid fingertips can apply considerable grasping forces and thus grasp heavy objects effectively, although this makes delicate grasping difficult. To maintain the benefits of the fluid fingertip while overcoming its disadvantages, the present study examines passively operable microgripper-embedded fluid fingertips. Our goal is to use the gripper to enhance the positioning accuracy and increase the grasping force by adding geometrical constraints to the existing mechanical constraints. Grasping tests showed that the gripper with the developed fingertips can grasp a wide variety of objects, both fragile and heavy.
Skip Nav Destination
Article navigation
December 2017
Research-Article
Microgripper-Embedded Fluid Fingertip-Enhancing Positioning and Holding Abilities for Versatile Grasping
Toshihiro Nishimura,
Toshihiro Nishimura
Graduate School of Natural Science
and Technology,
Kanazawa University,
Kakuma-machi,
Kanazawa 920-1192, Japan
e-mail: to.nishimura@stu.kanazawa-u.ac.jp
and Technology,
Kanazawa University,
Kakuma-machi,
Kanazawa 920-1192, Japan
e-mail: to.nishimura@stu.kanazawa-u.ac.jp
Search for other works by this author on:
Yoshinori Fujihira,
Yoshinori Fujihira
Graduate School of Engineering,
College of Design and Manufacturing
Technology,
Robotics Research Unit,
Muroran Institute of Technology,
27-1, Mizumoto-cho,
Muroran 050-8585, Hokkaido, Japan
e-mail: yfuji@mmm.muroran-it.ac.jp
College of Design and Manufacturing
Technology,
Robotics Research Unit,
Muroran Institute of Technology,
27-1, Mizumoto-cho,
Muroran 050-8585, Hokkaido, Japan
e-mail: yfuji@mmm.muroran-it.ac.jp
Search for other works by this author on:
Tetsuyou Watanabe
Tetsuyou Watanabe
Institute of Science and Engineering,
Kanazawa University,
Kakuma-machi,
Kanazawa 920-1192, Japan
e-mail: te-watanabe@ieee.org
Kanazawa University,
Kakuma-machi,
Kanazawa 920-1192, Japan
e-mail: te-watanabe@ieee.org
Search for other works by this author on:
Toshihiro Nishimura
Graduate School of Natural Science
and Technology,
Kanazawa University,
Kakuma-machi,
Kanazawa 920-1192, Japan
e-mail: to.nishimura@stu.kanazawa-u.ac.jp
and Technology,
Kanazawa University,
Kakuma-machi,
Kanazawa 920-1192, Japan
e-mail: to.nishimura@stu.kanazawa-u.ac.jp
Yoshinori Fujihira
Graduate School of Engineering,
College of Design and Manufacturing
Technology,
Robotics Research Unit,
Muroran Institute of Technology,
27-1, Mizumoto-cho,
Muroran 050-8585, Hokkaido, Japan
e-mail: yfuji@mmm.muroran-it.ac.jp
College of Design and Manufacturing
Technology,
Robotics Research Unit,
Muroran Institute of Technology,
27-1, Mizumoto-cho,
Muroran 050-8585, Hokkaido, Japan
e-mail: yfuji@mmm.muroran-it.ac.jp
Tetsuyou Watanabe
Institute of Science and Engineering,
Kanazawa University,
Kakuma-machi,
Kanazawa 920-1192, Japan
e-mail: te-watanabe@ieee.org
Kanazawa University,
Kakuma-machi,
Kanazawa 920-1192, Japan
e-mail: te-watanabe@ieee.org
1Corresponding author.
Manuscript received August 12, 2016; final manuscript received October 5, 2017; published online October 27, 2017. Editor: Vijay Kumar.
J. Mechanisms Robotics. Dec 2017, 9(6): 061017 (13 pages)
Published Online: October 27, 2017
Article history
Received:
August 12, 2016
Revised:
October 5, 2017
Citation
Nishimura, T., Fujihira, Y., and Watanabe, T. (October 27, 2017). "Microgripper-Embedded Fluid Fingertip-Enhancing Positioning and Holding Abilities for Versatile Grasping." ASME. J. Mechanisms Robotics. December 2017; 9(6): 061017. https://doi.org/10.1115/1.4038217
Download citation file:
Get Email Alerts
Design of Rolling Motion for Snake-like Robots using Center-of-Gravity (COG) Shift
J. Mechanisms Robotics
Modelling and Control of Cable Driven Exoskeleton for Arm Rehabilitation
J. Mechanisms Robotics
Design of an underactuated, flexure-based gripper, actuated through a push-pull flexure
J. Mechanisms Robotics
Related Articles
Topology Optimization and Prototype of a Three-Dimensional Printed Compliant Finger for Grasping Vulnerable Objects With Size and Shape Variations
J. Mechanisms Robotics (August,2018)
A Prismatic-Revolute-Revolute Joint Hand for Grasping From Unmanned Aerial Vehicles and Other Minimally Constrained Vehicles
J. Mechanisms Robotics (April,2018)
Self-Forcing Mechanism of the Braided Tube as a Robotic Gripper
J. Mechanisms Robotics (October,2019)
A Linear Multiport Network Approach for Elastically Coupled Underactuated Grippers
J. Mechanisms Robotics (October,2017)
Related Proceedings Papers
Related Chapters
GD&T as a Language
Geometric Dimensioning and Tolerancing Handbook: Applications, Analysis & Measurement
GD&T as a Language
Geometric Dimensioning and Tolerancing: Applications, Analysis, Gauging and Measurement [per ASME Y14.5-2018]
Chapter 7 | Conveyor Belts
Testing Rubber Products for Performance: An Overview of Commercial Rubber Product Performance Requirements for the Non-Product Specialist