Applied Sciences: Design and Implementation of A Multi-Function Gripper For Grasping General Objects

applied
sciences
Article
Design and Implementation of a Multi-Function
Gripper for Grasping General Objects
Long Kang 1 , Jong-Tae Seo 1 , Sang-Hwa Kim 2 , Wan-Ju Kim 2 and Byung-Ju Yi 2, *
1 Department of Industry-University Cooperation Foundation, Hanyang University ERICA,
55 Hanyangdaehak-ro, Sangnok-gu, Ansan, Gyeonggi-do 15588, Korea; hitjakie@gmail.com (L.K.);
jt1000je@hanyang.ac.kr (J.-T.S.)
2 Department of Electrical and Electronic Engineering, Hanyang University ERICA, 55 Hanyangdaehak-ro,
Sangnok-gu, Ansan, Gyeonggi-do 15588, Korea; sonata7943@hanyang.ac.kr (S.-H.K.);
wanjoo4379@naver.com (W.-J.K.)
* Correspondence: bj@hanyang.ac.kr; Tel.: +82-31-400-5218

Received: 17 October 2019; Accepted: 27 November 2019; Published: 4 December 2019
Featured Application: A multi-function grasping system is developed to grasp various objects in

different working environments, such as piece-picking in warehouses and fulfillment centers.
Abstract: The development of a reliable pick-and-place system for industrial robotics is facing
an urgent demand because many manual-labor works, such as piece-picking in warehouses and
fulfillment centers tend toward automation. This paper presents an integrated gripper that combines
a linkage-driven underactuated gripper with a suction gripping system for picking up a variety of
objects in different working environments. The underactuated gripper consists of two fingers, and
each finger has three degrees of freedom that are obtained by stacking one five-bar mechanism over
one double parallelogram. Furthermore, each finger is actuated by two motors, both of which can be
installed at the base owing to the special architecture of the proposed robotic finger. A suction cup is
used to grasp objects in narrow spaces and cluttered environments. The combination of the suction
and traditional linkage-driven grippers allows stable and reliable grasping under different working
environments. Finally, practical experiments using a wide range of objects and under different
grasping scenarios are performed to demonstrate the grasping capability of the integrated gripper.
Keywords: gripper; suction; underactuation; underactuated; robot end-effector
1. Introduction
The growth in industrial automation indicates that the human–robot–environment interaction will
become a common work scenario in many robot applications such as personal, service, and medical
robots. In particular, robotic end-effectors such as grippers/hands are expected to frequently experience
physical contact with the environment. Thus, to ensure a stable and reliable grasping, the grippers
should be designed to be multi-functional.
So far, a large number of robotic hands/grippers have been developed to grasp various objects.
Among them, multi-fingered anthropomorphic robotic hands have been proposed to attain dexterous
manipulation similar to a human hand. The well-known designs include the DLR hand [1], Shadow
hand [2], Nasa Robonaut 2 hand [3], and many others. These anthropomorphic hands, especially the
fully actuated type, can be used to achieve dexterity similar to the human hand. However, because
of multiple degrees of freedom (DOFs) and multiple actuators, the entire hand system is generally
bulky and costly. Furthermore, a complicated control system is required to simultaneously operate
multiple actuators located at different fingers. Because of the aforementioned reasons, very few
Appl. Sci. 2019, 9, 5266; doi:10.3390/app9245266 www.mdpi.com/journal/applsci

Appl. Sci. 2019, 9, 5266 2 of 21
anthropomorphic hands have been employed in the industry, and most of them are still used only in
educational institutions.
To overcome the disadvantages of anthropomorphic hands, many non-anthropomorphic hands
have been developed. Among them, the underactuated robotic hands, which are developed to reduce
the number of actuators and complexity while preserving the relatively high versatility, have received
particular attention [4–17]. These hands have been widely used in the automation industry and
daily-life applications. The pioneer designs include the Barret [18], Reflex [19], and Robotiq two-finger
and three-finger hands [20,21]. For the underactuated robotic grippers/hands, passive elements such
as springs, mechanical stoppers, or compliant links are generally required to automatically adapt the
robotic finger to the shape of the object.
The aforementioned multi-fingered robotic hands/grippers can be used to safely and stably grasp
objects in open space. However, in cluttered-environment applications where objects are surrounded by
one another, the use of multi-fingered robotic hands is not suitable because physical contacts with the
objects to be grasped may occur. In comparison, suction grippers are more suitable for grasping objects
in cluttered narrow spaces [22–26]. However, because the suction cup is soft, suction grasping might be
not stable in relatively high-speed, high-acceleration, or high-payload applications. Furthermore, the
contact area between the soft suction cup and object influences the suction-gripping force. In addition,
the contact area may vary with respect to the different shapes and materials of the object to be grasped.
For example, the suction cup may fail to grasp objects made of fabric materials or those with multiple
holes. To achieve stable and reliable grasping, we develop a multi-function gripper that combines a
new two-fingered underactuated gripper with a vacuum grasping system. This multi-function gripper
can be used to grasp general objects in different environments.
This paper is structured as follows. Section 2 describes in detail the architecture of the
multi-function gripper. Section 3 discusses the analysis of various grasping modes and grasping
strategies in different working environments. Section 4 presents the implementation of real-world
experiments using a six-DOF commercial robotic arm. Section 5 provides the discussion and conclusion.
2. Architecture Description of the Multi-Function Gripper

In this section, the architecture of the proposed three-DOF robotic finger and the two-fingered
underactuated gripper is presented in detail. The suction system and its integration into the gripper
are introduced.
As we mentioned earlier, underactuation can be achieved through using passive elements such
as springs and mechanical stoppers. First, a demonstration of the closing sequence of a two-phalanx
robotic finger is shown in Figure 1 to clearly understand the working principle of underactuation. This
finger is actuated by the lower link indicated by the arrow. This finger has two phalanxes, whereas
only one actuator is used for control. The spring and mechanical stopper are used to constrain the
relative motion between the two phalanxes. First, before the proximal phalanx makes physical contact
with the object to be grasped, the whole finger moves as a single rigid body, as shown in Figure 1a,b.
Second, when the proximal phalanx makes physical contact with the object, it stops its movement. In
this case, the actuation toque overcomes the preloading of the spring, and the distal phalanx continues
to rotate [as shown in Figure 1c] relative to the proximal phalanx until it also makes physical contact
with the object [as shown in Figure 1d]. It is noted that the finger closing sequence is automatically
generated by continuous actuation of the lower link, as indicated by the arrow.
Appl. Sci. 2019, 9, 5266 3 of 21
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Figure 1. The closing sequence of a two-phalanx underactuated robotic finger.
Similarly, the closing sequence of the traditional three-phalanx robotic finger is shown in
Figure 2, which is an underactuated finger that can be controlled using only one motor. Robotiq
three-finger adaptive gripper [21] is based on the modification of this principle. The springs and
mechanical stoppers are installed at the pivot joint between each phalanx. Actuating the lower link
(indicated by the arrow)
Figure can automatically
1. The closing sequence of a generate
two-phalanx thisunderactuated
closing sequence.roboticThe three phalanxes will
finger.
make contact with1.the
Figure Theobject
closinginsequence
sequence. of aHowever,
two-phalanx this underactuated
underactuated roboticrobotic
finger.finger can only be
Similarly,
used the closing
to perform sequence ofgrasping.
shape-adaptive the traditional three-phalanx
In a real world scenario,roboticwe finger
expectis shown in Figure
the robotic 2, to
finger
which Similarly,
have is multiple thegrasping
an underactuated closing finger
sequence
modes that
such of asthe
can be traditional
controlled
parallel and usingthree-phalanx robotic
only one motor.
shape-adaptive grasping. finger
Robotiq is shown
three-finger
In this in
case, special
Figure
adaptive 2, which
gripper is an
[21] underactuated
is based on the finger that
modification can of be
thiscontrolled
principle. using
design architecture of the three-phalanx robotic finger needs to be developed. Moreover, sometimes, The only
springs one motor.
and Robotiq
mechanical
three-finger
stoppers
we need are toadaptive
installed atgripper
the pivot
fully actuate [21] is based
joint
a linkage-drivenbetween on the modification
each
robotic phalanx.
finger toActuatingof thishigh
achieve principle.
the lower The(indicated
link
dexterity. springs
With and
by to
respect
mechanical
the arrow)
the stoppers
can
three-phalanx are
automatically installed
robotic generate
finger at the pivot
this
shown injoint
closing between
2, weeach
sequence.
Figure The phalanx.
three
cannot Actuating
phalanxes
install will the
all actuators make lower thelink
atcontact base.
(indicated
with the by
object the
in arrow)
sequence. can automatically
However, this generate
underactuated this closing
robotic sequence.
finger
Floating actuators will generate large moving inertia, and the size of the floating actuator is can The
only three
be phalanxes
used to performwill
make contact
shape-adaptive
confined to with the object
grasping.
the mechanical In ain sequence.
real
dimension However,
worldofscenario,
the finger. wethisexpect
underactuated
the robotic robotic
fingerfinger
to have canmultiple
only be
used toThus,
grasping perform
modes shape-adaptive
such as parallel andgrasping. In
shape-adaptive a real world
grasping. scenario,
In this we
case,
the initial motivation of this research is to propose a new three-phalanx robotic fingerexpect
special the robotic
design finger
architecture to
have
of the multiple
three-phalanx grasping modes
robotic such
finger as
needs parallel
to be and shape-adaptive
developed. Moreover,
that can achieve multiple grasping modes. To fully actuate this three-phalanx robotic finger, grasping.
sometimes, In this
we case,
need special
to fully
design
actuate architecture
anothera linkage-driven
design goal of the three-phalanx
isrobotic
to finger
install torobotic
all the achieve
actuatorsfinger
highat needs to be
dexterity.
the base. developed.
With respectMoreover,
Furthermore, to the
the sometimes,
three-phalanx
motion of the distal
wephalanx
need
robotic to is
finger fully
shown actuate a linkage-driven robotic finger to achieve
expected to be decoupled from the proximal and intermediate phalanxes to will
in Figure 2, we cannot install all actuators at thehigh
base.dexterity.
Floating With respect
actuators to
reduce
thecontrol
three-phalanx
generate large moving
complexity robotic finger
inertia,
and and
increase shown
the size in of
dexterity. Figure 2,awe
the floating
Finally, cannot
actuator
suction-grippinginstall all actuators
is confined
system the at
to integrated
is the to
mechanicalbase.
grasp
Floating
objectsactuators
dimension ofcluttered,
in willnarrow
the finger. generate spaces.large moving inertia, and the size of the floating actuator is
confined to the mechanical dimension of the finger.
Thus, the initial motivation of this research is to propose a new three-phalanx robotic finger
that can achieve multiple grasping modes. To fully actuate this three-phalanx robotic finger,
another design goal is to install all the actuators at the base. Furthermore, the motion of the distal
phalanx is expected to be decoupled from the proximal and intermediate phalanxes to reduce
control complexity and increase dexterity. Finally, a suction-gripping system is integrated to grasp
objects in cluttered, narrow spaces.
Figure 2. The
Figure closing
2. The sequence
closing of aofthree-phalanx
sequence robotic
a three-phalanx finger.
robotic finger.
Thus, the initial motivation of this research is to propose a new three-phalanx robotic finger
that can achieve multiple grasping modes. To fully actuate this three-phalanx robotic finger, another
design goal is to install all the actuators at the base. Furthermore, the motion of the distal phalanx is
expected to be decoupled from the proximal and intermediate phalanxes to reduce control complexity
and increase dexterity. Finally, a suction-gripping system is integrated to grasp objects in cluttered,
narrow spaces. Figure 2. The closing sequence of a three-phalanx robotic finger.
Appl. Sci. 2019, 9, 5266 4 of 21
2.1. Three-DOF
2.1. Three-DOF Linkage-Driven
Linkage-Driven Robotic
Robotic Finger
Finger
In this In paper,
this paper, we propose
we propose a three-DOF
a three-DOF linkage-driven
linkage-driven robotic
robotic finger finger
whose whose all three
all three actuators
actuators
required
required for full
for full actuation
actuation can can be installed
be installed at the
at the base,
base, andand theorientation
the orientationofofthethedistal
distalphalanx
phalanx can
can bebe independently
independently controlled. The Theschematic
schematicdiagram
diagramofofthethethree-DOF
three-DOFlinkage-driven
linkage-drivenrobotic
robotic finger
fingeris is
shown
shown in in
Figure
Figure3. 3.
WeWe cancanseesee
that thisthis
that finger mechanism
finger mechanism is constructed
is constructed by stacking oneone
by stacking five-bar
mechanism
five-bar mechanism (ABCD)
(ABCD) over
overoneonedouble
double parallelogram (ABFE,BKHG).
parallelogram (ABFE, BKHG).FigureFigure 3a shows
3a shows that that
threethree
independent
independent (LAE(, L
linkslinks LAE LAD , Land
AD, , and LAB )be
AB ) can can be used
used to fully
to fully control
control this three-phalanx
this three-phalanx robotic
robotic finger.
finger.
Because threethree
Because jointsjoints
driving thosethose
driving threethree
independent
independentlinkslinks
are coaxial, all three
are coaxial, actuators
all three required
actuators for for
required
full actuation can be installed at the base.
full actuation can be installed at the base.
(a) (b)
FigureFigure 3. (a) Architecture

3. (a) Architecture of the three-DOF
of the three-DOF (degrees(degrees of freedom)
of freedom) linkage-driven
linkage-driven robotic
robotic finger. finger. (b)
(b) Using
Using
torsion springtorsion spring and stopper
and mechanical mechanical stopper
to realize thetounderactuated
realize the underactuated
finger. finger.
2.2. Two-Finger Underactuated

2.2. Two-Finger Gripper
Underactuated and Integrated
Gripper Suction
and Integrated System
Suction System
EvenEventhough the robotic
though finger shown
the robotic finger in Figurein
shown 3aFigure
can be fully
3a can actuated
be fullyto achieve
actuatedhigh
to dexterity,
achieve high
in the current study,
dexterity, in the we focusstudy,
current on developing
we focusan onunderactuated
developing antype that can realize
underactuated typeparallel
that canandrealize
shape-adaptive
parallel and shape-adaptive grasping. Similar to the two-phalanx underactuated robotic 1,
grasping. Similar to the two-phalanx underactuated robotic finger shown in Figure finger
one torsion
shown spring and one
in Figure mechanical
1, one stopperand
torsion spring are installed between stopper
one mechanical the proximal and intermediate
are installed between the
phalanxes
proximal to realize an underactuated
and intermediate phalanxesfinger, as shown
to realize in Figure 3b. The
an underactuated torsion
finger, spring
as shown in is used 3b.
Figure to The
prevent free motion between the proximal and intermediate phalanxes. The proximal
torsion spring is used to prevent free motion between the proximal and intermediate phalanxes. Theand intermediate
phalanxes
proximalare passively coupled with
and intermediate each other
phalanxes by the torsion
are passively coupledspring
withand mechanical
each other bystopper. There
the torsion spring
exist and
two independent motions in this finger, i.e., the open-close motion of the finger and
mechanical stopper. There exist two independent motions in this finger, i.e., the open-close distal-phalanx
orientation
motionadjustment.
of the fingerTwo
and motors are required
distal-phalanx to control
orientation this underactuated
adjustment. Two motorsfinger. One motor
are required to control
rotating
this link LAD is usedfinger.
underactuated to control
One the
motoropen-close
rotating motion
link LADof isthe finger,
used and the
to control other
the one rotating
open-close motion of
link L is used and
AE finger,
the to control the orientation
the other one rotating of link
the distal
LAE isphalanx.
used toThus,controlthethe
open-close motion
orientation anddistal
of the
distal-phalanx orientation adjustment are decoupled from each other. The grasping sequences of the
phalanx. Thus, the open-close motion and distal-phalanx orientation adjustment are decoupled from
parallel and shape-adaptive grasping are shown in Figure 4a,b, respectively.
each other. The grasping sequences of the parallel and shape-adaptive grasping are shown in Figure
For the parallel grasping shown in Figure 4a, when independent link LAD is actuated and if
4a,b, respectively.
no external contact occurs at the proximal phalanx, the proximal and intermediate phalanxes move
For the parallel grasping shown in Figure 4a, when independent link L is actuated and if no
together as a single rigid body (from phase I to phase III) because the torsion springADprevents a relative
external contact occurs at the proximal phalanx, the proximal and intermediate phalanxes move
free motion between them. In general, preloading of the torsion spring is required to prevent any
together as a single rigid body (from phase I to phase III) because the torsion spring prevents a
undesired motion due to the gravity and inertia effects during the open-close motion.
relative free motion between them. In general, preloading of the torsion spring is required to prevent
any undesired motion due to the gravity and inertia effects during the open-close motion.
For the shape-adaptive grasping shown in Figure 4b, if no external contact occurs at the
proximal phalanx, activating independent link LAD generates a free open-close motion (from phase
distal phalanx can be adjusted by activating independent link LAE to add one more contact with the
object. Actively adjusting the orientation of the distal phalanx allows this robotic finger to perform
multiple grasping tasks. Controlling orientation of the distal phalanx is a special feature that other
contemporary grippers have not had. It is noted that after preforming the shape adaptive grasping
and
Appl. releasing the object, stored load in the torsion spring will force the proximal and intermediate
Sci. 2019, 9, 5266 5 of 21
phalanxes to go back to their original configuration.
(a) (b)
Figure
Figure 4. Grasping
4. Grasping sequence
sequence ofunderactuated
of the the underactuated finger.
finger. (a) Parallel
(a) Parallel grasping.
grasping. (b) Shape-adaptive
(b) Shape-adaptive grasping.
grasping.
For the shape-adaptive grasping shown in Figure 4b, if no external contact occurs at the proximal
phalanx,
The activating
proposed independent canLAD
robotic fingerlink generates
be used a free multi-finger
to design open-close motion
robotic(from phase I to phase
hands/grippers. II),
In this
similarwe
work, touse
thatthe
of underactuated-type
the parallel grasping. Starting
robotic from
finger phase II,
to design physical contact
a two-finger occurs between
underactuated gripper,the
as
object toinbe
shown grasped
Figure andkinematic
5. The the proximal phalanx.of
parameters Inthe
thisunderactuated
case, the proximal phalanx
gripper stopsin
are listed theTable
movement,
1. The
and the
two intermediate
fingers phalanx continues
of this underactuated to move
gripper against the torsion
are independently springFurthermore,
operated. until it makesfor contact
each
with the object finger,
underactuated (from phase II to phase
two actuators are III). Thus,tothe
required torsion-spring
control stiffness
its open-close should
motion and be
thedesigned as
orientation
small
of theas possible,
distal but sufficiently
phalanx. big to prevent
For each motor, a wormundesired
gear is usedmotion
as aduring the free open-close
non-back-drivable motion.
transmission
Furthermore,
mechanism to from
ensure phase III to The
grasping. phase IV, we can see
specifications of thethat the orientation
actuation system, of the distal
which include phalanx can
the motor
be adjusted
type, by activating
controller independent
type, and gear listedLAE
ratio, are link to add2.one more contact with the object. Actively
in Table
adjusting the orientation of the distal phalanx allows this robotic finger to perform multiple grasping
tasks. Controlling orientation of the distal phalanx is a special feature that other contemporary grippers
have not had. It is noted that after preforming the shape adaptive grasping and releasing the object,
stored load in the torsion spring will force the proximal and intermediate phalanxes to go back to their
original configuration.
The proposed robotic finger can be used to design multi-finger robotic hands/grippers. In this
work, we use the underactuated-type robotic finger to design a two-finger underactuated gripper,
as shown in Figure 5. The kinematic parameters of the underactuated gripper are listed in Table 1.
The two fingers of this underactuated gripper are independently operated. Furthermore, for each
underactuated finger, two actuators are required to control its open-close motion and the orientation
of the distal phalanx. For each motor, a worm gear is used as a non-back-drivable transmission
mechanism to ensure grasping. The specifications of the actuation system, which include the motor
type, controller type, and gear ratio, are listed in Table 2.
Appl.
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Figure 5. Two-finger underactuated gripper + suction mechanism.

Figure 5. Two-finger underactuated gripper + suction mechanism.
Table 1. Kinematic parameters 1 of the underactuated gripper.
Table 1. Kinematic parameters 1 of the underactuated gripper.
Length (mm) Length (mm) Angle (Deg)
Length Length
LAE = 23.0 L = 23.0 Angle (Deg)
LAD = 62.0
(mm) L BF = 20.0(mm)
BG
LAE =23.0LBK = L60.0 φKBC = 135
LAB = 80.0 BF =23.0
φFBG = 45
LBC = 20.0 LAD =62.0LGH =L60.0
BG =20.0 φKBA ≤φ135 = 135
KBC (constrained by the stopper)
LCD = 52.0 L = 20.0
LAB =80.0 KH LBK =60.0 φFBG = 45
LEF = 80.0 LKI = 45.0
LBC =20.0 L1GH =60.0 φKBA ≤3a.135 (constrained
Referring to Figure
LCD =52.0 LKH =20.0 by the stopper)
LEF =80.0 LKI =45.0 of the actuation system.
Table 2. Specification
1 Referring to Figure 3a.
Motor 1 Motor 2 Motor 3 Motor 4
(FAULHABER) Table 2. Specification of the actuation system.
BLDC 1226S012B BLDC 1226S012B BLDC 1226S012B BLDC 1226S012B
Motor type
Gear head 256:1 Motor 1 256:1
Motor 2 256:1 3
Motor Motor 256:1
4
Worm gear 20:1 20:1 20:1 20:1
(FAULHABER) BLDC BLDC BLDC BLDC
Rated torque 1.97 mNm 1.97 mNm 1.97 mNm 1.97 mNm
ControllerMotor
type type MCBL 3002S1226S012B MCBL 1226S012B
3002S 1226S012B
MCBL 3002S 1226S012B
MCBL 3002S
Gear head 256:1 256:1 256:1 256:1
Worm gear 20:1 20:1 20:1 20:1
The suction-grasping system consists of an air compressor, an ejector, a filter, a vacuum cylinder,
Rated torque 1.97 mNm 1.97 mNm 1.97 mNm 1.97 mNm
and a suction cup. The vacuum-lifting cylinder attached to the gripper palm has an 80-mm stroke.
Controller type MCBL 3002S MCBL 3002S MCBL 3002S MCBL 3002S
Figure 5 shows that when the two robotic fingers stay at an open configuration, suction grasping
can be performed
The to grasp objects
suction-grasping system inconsists
a cluttered narrow
of an environment.
air compressor, an The system
ejector, overview
a filter, of the
a vacuum
multi-function grasping system including a six-DOF commercial robot arm, is shown in Figure
cylinder, and a suction cup. The vacuum-lifting cylinder attached to the gripper palm has an 80-mm 6.
stroke. Figure 5 shows that when the two robotic fingers stay at an open configuration, suction
grasping can be performed to grasp objects in a cluttered narrow environment. The system overview
of the multi-function grasping system including a six-DOF commercial robot arm, is shown in
Figure 6.
Appl. Sci. 2019, 9, 5266 7 of 21
Figure6.6.System
Figure System overview
overview of the multi-function
of the multi-functiongrasping
graspingsystem.
system.
2.3. Comparison with One Commercialized Three-Phalanx Robotic Gripper

2.3. Comparison with One Commercialized Three-Phalanx Robotic Gripper
To demonstrate the special feature of our robotic finger. A comparison is made between our
To demonstrate the special feature of our robotic finger. A comparison is made between our
three-DOF robotic finger and the well-known three-DOF underactuated finger used in Robotiq’s
three-DOF robotic finger and the well-known three-DOF underactuated finger used in Robotiq’s
three-finger
three-finger adaptive
adaptivegripper
gripper(licensed
(licensedfromfrom[27]).
[27]).
The architecture
The architecture of the
of finger usedused
the finger in Robotiq’s three-finger
in Robotiq’s adaptive
three-finger gripper gripper
adaptive is shownisinshown
Figure 7b,c.
in
ItsFigure
design7b,c.
principle can be explained as follows: First, a general three-DOF
Its design principle can be explained as follows: First, a general three-DOF shape shape adaptive finger, as we
explained
adaptiveearlier,
finger,isasshown in Figureearlier,
we explained 7a. This finger mechanism
is shown in Figure 7a.can be finger
This used tomechanism
perform shape-adaptive
can be used
grasping, with at most three contact points at the three phalanxes in
to perform shape-adaptive grasping, with at most three contact points at the three phalanxes sequence. However, this finger
in
mechanism cannot be used to perform parallel grasping, as its distal phalanxes
sequence. However, this finger mechanism cannot be used to perform parallel grasping, as its distal cannot be maintained
tophalanxes
be parallelcannot
to eachbe other. To achieve
maintained to beparallel
parallel grasping
to eachmode,
other. Gosselin
To achieveandparallel
Laliberté [27] developed
grasping mode,
a three-DOF
Gosselin and underactuated
Laliberté [27] finger by adding
developed a two parallelograms
three-DOF to the three-DOF
underactuated finger by shape-adaptive
adding two
finger shown in Figure
parallelograms to the 7a. Their design
three-DOF is shown in
shape-adaptive Figure
finger shown7b,c.inFrom
FigureFigure 7c, we
7a. Their can see
design that the
is shown
twoin parallelograms
Figure 7b,c. From areFigure
coupled 7c, to
weproximal
can see that andthe two parallelograms
intermediate phalanxesare ofcoupled to proximal finger.
the shape-adaptive and
Byintermediate
adding two phalanxes
mechanicalofstoppers
the shape-adaptive
and two springs finger.atBytheadding
bottomtwoandmechanical
top ends ofstoppers andparallel
the finger, two
springs at the bottom and top ends of the finger, parallel grasping can be
grasping can be achieved as shown in Figure 7b,c. However, in their design, the orientation of the distal achieved as shown in
Figure is
phalanx 7b,c. However,
passively in their
coupled design,
with the orientation
the intermediate of the through
phalanx distal phalanx is passively
mechanical coupled
elements with
and cannot
bethe intermediate
actively controlled.phalanx through
Hence, except mechanical
for parallel elements and cannot be grasping,
and shape-adaptive actively controlled.
this finger Hence,
design
except
might notfor
be parallel
appropriateand for
shape-adaptive
performing other grasping, this finger
challenging designtasks.
grasping might Butnot be appropriate
it has the advantage forof
performing other challenging grasping tasks. But it has the advantage
achieving stable shape-adaptive grasping by using only one actuator to control the three phalanxes in of achieving stable
shape-adaptive
sequence, as shown grasping
in Figureby 7c.
using only one actuator to control the three phalanxes in sequence, as
shown in Figure
Compared 7c. Robotiq’s finger, our design has a simpler structure in terms of the design
with
Compared with Robotiq’s finger, our design has a simpler structure in terms of the design
complexity and number of mechanical links. The orientation of the distal phalanx of our robotic finger
complexity and number of mechanical links. The orientation of the distal phalanx of our robotic
can be controlled independently by activating link LAE , shown in Figure 3. This feature enables the
finger can be controlled independently by activating link LAE , shown in Figure 3. This feature
finger to perform multiple grasping tasks. Actively adjusting the orientation of the distal phalanx is
enables the finger to perform multiple grasping tasks. Actively adjusting the orientation of the distal
also important for design a multi-finger robotic hand, which is our on-going work.
phalanx is also important for design a multi-finger robotic hand, which is our on-going work.
Appl. Sci. 2019, 9, 5266 8 of 21
Figure 7. (a) A three-DOF shape adaptive finger. (b,c): Three-DOF underactuated finger proposed by
Figure 7. (a) A three-DOF shape adaptive finger. (b,c): Three-DOF underactuated finger proposed by
Gosselin and Laliberté [27]. (b) Parallel precision grasping. (c) Shape-adaptive grasping.
Gosselin and Laliberté [27]. (b) Parallel precision grasping. (c) Shape-adaptive grasping.
3. Grasping Modes and Grasping Strategy
3. Grasping Modes and Grasping Strategy
This multi-function gripper is developed to grasp general objects in different working environments.
It canThis
be usedmulti-function gripper grasping
to achieve multiple is developedmodes,tosuch grasp generalgrasping,
as parallel objects in different working
non-parallel grasping,
environments. power
shape-adaptive It can grasping,
be used suction,
to achieve multiple grasping
suction-and-pinch modes,
grasping, andsuch
many asother
parallel grasping,
grasping tasks.
non-parallel grasping, shape-adaptive power grasping, suction, suction-and-pinch
In this section, we present several examples that are selected to investigate their corresponding grasping, and
many other grasping tasks. In this section, we present several examples
grasping strategies. Moreover, the possibility of using this new linkage-driven gripper to perform that are selected to
investigate their corresponding
some challenging grasping tasks is presented. grasping strategies. Moreover, the possibility of using this new
linkage-driven gripper to perform some challenging grasping tasks is presented.
3.1. Parallel Grasping
3.1. Parallel Grasping
3.1.1. Sequence Demonstration of Parallel Grasping
3.1.1. Sequence Demonstration of Parallel Grasping
As explained earlier, two motors are required to control each underactuated finger. One motor is
used toAscontrol
explained earlier, twomotion,
the open-close motors and are required
the otherto onecontrol
is used each underactuated
to control finger. One
the orientation of themotor
distal
is used to control the open-close motion, and the other
phalanx. When both the two fingers are simultaneously controlled to perform one is used to control the orientation
open-close motionof the
distal
and nophalanx.
external When
contactboth the at
occurs twothefingers
proximal are linkages,
simultaneously
parallelcontrolled
grasping tocan perform the open-close
be achieved, as shown
motion and no external contact occurs at the proximal linkages, parallel
from Figure 8a–c. It is noted that to make sure that these two independent fingers can be synchronized grasping can be achieved,
as shown
during from grasping,
parallel Figure 8a-c. It is noted that
initialization to makebefore
is required sure that these twoa independent
performing grasping task. fingers can be
Initially, we
synchronized
need to move the during
gripperparallel
to thegrasping,
home position initialization is required
where both before
of the two performing
fingers are fullya opened.
graspingDue task.to
Initially,
the we need
mechanical to move after
limitation, the gripper
movingtotothe thehome
fullyposition
opened where both of the
configuration, thetwo fingers
fingers are fully
cannot move
anymore, and the motor current will be increased rapidly. Then we use the current feedback fromthe
opened. Due to the mechanical limitation, after moving to the fully opened configuration, the
fingerstocannot
motor detect move
whether anymore,
these two andfingers
the motormovecurrent will be
to the fully increased
opened rapidly. Then
configurations we use
or not. the
Because
current
we feedback
can find from the
the absolute motorofto
position detect
each fingerwhether theseopened
at the fully two fingers move tofrom
configuration the fully
the 3D opened
model,
we can control the synchronization of the two fingers. Video attachment demonstrates howopened
configurations or not. Because we can find the absolute position of each finger at the fully motion
configuration from
synchronization the 3D model, we can control the synchronization of the two fingers. Video
is achieved.
attachment demonstrates how motion synchronization is achieved.
Appl. Sci. 2019, 9, 5266 9 of 21
f = τa (LAK sin (θ a + θ c ) ) (6)
The power-transmission
(a) system consists of the motor(b)gear head and worm-gear(c)set. By
considering the power efficiency, the relationship between the actuation torque of independent link
Figure8.8.Demonstration
Demonstrationofofparallel
parallelgrasping.
grasping.
LAD and input motor torque canFigure
be derived as
3.1.2.
3.1.2.Analysis
AnalysisofofParallel
ParallelGrasping
GraspingForce τ a = τ m rm rwη mη w
Force (7)
The relationship between the parallel-grasping force and actuation torque can be evaluated with
where τ Them is the input motor torque. rm and η m are the gear ratio and efficiency of the motor
relationship between the parallel-grasping force and actuation torque can be evaluated
the quasi-static
with modeling
therespectively.
quasi-static of the finger.
modeling As finger.
mentioned earlier, during the parallel-grasping sequence, the
gear head,
entire finger moves as a rw and
single ηof
rigid
the
are through
wbody the gear As ratio
using
mentioned
one and
motor
earlier,
efficiency
to
during
controlofthe
the the
link
parallel-grasping
worm-gear
L set,
. The parallel
sequence, the entire finger moves as a single rigid body through using one motor to control AD the link
respectively.
grasping
LAD . Themodel
parallelis shown
graspingin Figure
model 9a. By equating
is shown in Figure the input
9a. Byand outputthe
equating virtual
inputpower, we have
and output virtual
Moreover, the motor capacity can be determined according to the payload requirement using
power, we have relationship between the Tgrasping force and input motor torque.
the above-mentioned f · vP = τa ωa (1)
Furthermore, because the efficiency coefficients f T ⋅ v P = (τηaωm a and η w ) shown in Equation (7) are (1)
where referring
difficult to Figureevaluate,
to accurately 9a, represents the contact
accurately force at contact
measuring the point
energy P during parallelofgrasping,
efficiency the
where referring
represents the to Figure 9a,
instantaneous represents
velocity of thethe contact
contact force
point P, at contact point
represents the P duringtorque
actuation parallel grasping,
exerted
power-transmission system becomes difficult. Thus, Equation (6) can only be used to estimate the on
represents the instantaneous velocity ofmotion
the contact point P, represents the actuation torque exerted
grasping force. In order to accurately control the grasping force, we need to install a force sensorofatthe
the link used to perform the open-close of the finger, represents the angular velocity
on the linki.e.,used to perform the open-close motion of the finger, represents the angular velocity of
theactive
distal link,
phalanx.and denotes the open-close angle of the active link with respect to the horizontal axis.
the active link, i.e., and denotes the open-close angle of the active link with respect to the horizontal
axis.
During the parallel-grasping sequence, the entire finger moves as a single rigid body to
perform the open-close motion. Thus, point K shown in Figure 9a will follow a circular trajectory
with its rotation center located at point A. Because the orientation of the distal phalanx remains
constant during the open-close motion, all its points have the same instantaneous velocity. By
defining a virtual parallelogram O P − A − K − P ( O P A = PK ) shown in Figure 9a, we know that the
contact point P follows a circular trajectory with its rotation center located at the virtual point
O P .The motion of contact point P during parallel grasping is shown in Figure 9b. The velocity of
contact point P is the same as the velocity of point K, which can be derived as
vP = vK = LAKφ (2)
As we know, the whole finger moves as a single rigid body, we have

φ + 2π − θ a = θ c (3)
where θ c is a constant value that can be found from our design.

Then we have
(a) φ= θa (b) (4)
From FigureFigure
9a 9.and
Figure (a)
9. Parallel-grasping
substituting model.
Equations
(a) Parallel-grasping (b)
model.(2)Trajectory
and
(b) (4) of contact
into
Trajectory point
ofEquation
contact P.
(1),P.Equation (1) can be
point
rewritten as
3.2. Shape-Adaptive
During the Grasping
parallel-grasping sequence, the entire finger moves as a single rigid body to perform
the f T ⋅ v P point
= fvP sin φshown φ sin
= fLAKin φ = fL9a  sin (θ + θ ) = τ θ
AKθwill with (5)
During performing theThus,
open-close motion. open-close Kmotion Figure
of the a
two fingers, follow
a
when c a circular
a a
the grasped trajectory
object makes its
rotation center
contact (external located at point
F1 and F2 forceA. Because the orientation of the distal phalanx remains constant
Thus, theforces
parallel-grasping are applied) with theasproximal phalanx, the parallel-grasping
can be obtained
mode shown in Figure 8 will transform into shape-adaptive grasping, as shown in Figure 10.
Keeping closing the finger forces the angle between the proximal and intermediate phalanxes to
decrease. During this process, the torsion spring is twisted by the motor. Thus, the stiffness of the
torsion spring should be designed as small as possible, but sufficiently large to prevent undesired
motion due to the weight and inertia.
Appl. Sci. 2019, 9, 5266 10 of 21
during the open-close motion, all its points have the same instantaneous velocity. By defining a virtual
parallelogram OP − A − K − P (OP A = PK) shown in Figure 9a, we know that the contact point P
follows a circular trajectory with its rotation center located at the virtual point OP .The motion of contact
point P during parallel grasping is shown in Figure 9b. The velocity of contact point P is the same as
the velocity of point K, which can be derived as
.
vP = vK = LAK φ (2)
As we know, the whole finger moves as a single rigid body, we have
φ + 2π − θa = θc (3)
where θc is a constant value that can be found from our design.

Then we have . .
φ= θa (4)
From Figure 9a and substituting Equations (2) and (4) into Equation (1), Equation (1) can be
rewritten as . . .
fT · vP = f vP sin φ = f LAK φ sin φ = f LAK θa sin(θa + θc ) = τa θa (5)
Thus, the parallel-grasping force can be obtained as
f = τa /(LAK sin(θa + θc )) (6)
The power-transmission system consists of the motor gear head and worm-gear set. By considering
the power efficiency, the relationship between the actuation torque of independent link LAD and input
motor torque can be derived as
τa = τm rm rw ηm ηw (7)
where τm is the input motor torque. rm and ηm are the gear ratio and efficiency of the motor gear head,
respectively. rw and ηw are the gear ratio and efficiency of the worm-gear set, respectively.
Moreover, the motor capacity can be determined according to the payload requirement using the
above-mentioned relationship between the grasping force and input motor torque.
Furthermore, because the efficiency coefficients (ηm and ηw ) shown in Equation (7) are difficult
to accurately evaluate, accurately measuring the energy efficiency of the power-transmission system
becomes difficult. Thus, Equation (6) can only be used to estimate the grasping force. In order to
accurately control the grasping force, we need to install a force sensor at the distal phalanx.
3.2. Shape-Adaptive Grasping

During performing the open-close motion of the two fingers, when the grasped object makes
contact (external forces F1 and F2 are applied) with the proximal phalanx, the parallel-grasping mode
shown in Figure 8 will transform into shape-adaptive grasping, as shown in Figure 10. Keeping closing
the finger forces the angle between the proximal and intermediate phalanxes to decrease. During this
process, the torsion spring is twisted by the motor. Thus, the stiffness of the torsion spring should be
designed as small as possible, but sufficiently large to prevent undesired motion due to the weight
and inertia.
Appl. Sci. 2019, 9, 5266 11 of 21
Appl. Sci.
Appl. Sci. 2019,
2019, 9,
9, xx FOR
FOR PEER
PEER REVIEW
REVIEW 11 of
11 of 21
21
(a) (b)
Figure 10.
Figure
Figure 10. Demonstration
10. Demonstrationofof
Demonstration ofshape-adaptive
shape-adaptive
shape-adaptive grasping.
grasping.
grasping. (a)
(a)(a) State
State
State when
when
when objects
objects
objects start
startstart making
making
making contact
contact
contact with
with
with thproximal
thproximal phalanxes.
phalanxes. (b)
(b) State
State when
when the
the shape-adaptive
shape-adaptive grasping
grasping is
is achieved.
achieved.
thproximal phalanxes. (b) State when the shape-adaptive grasping is achieved.
3.3. Combination of
3.3. Combination of the
the Suction
Suction and
and Mechanical
Mechanical Grippers
Grippers
As explained
As explainedearlier, conventional
earlier, conventionalmechanical grippers/hands
mechanical provideprovide
grippers/hands the advantage of achieving
the advantage of
stable grasping
achieving stablein open space.
grasping Meanwhile,
in open applying applying
space. Meanwhile, them in athemcluttered narrow space
in a cluttered narrow is difficult
space is
because multiple
difficult because physical
multiplecontacts
physicalmight occur.
contacts In comparison,
might the suction grasper
occur. In comparison, offers grasper
the suction the advantage
offers
of
thegrasping
advantage objects in a cluttered
of grasping narrow
objects in aenvironment. Meanwhile,
cluttered narrow pure suction
environment. graspingpure
Meanwhile, is generally
suction
unstable because
grasping the suction
is generally unstablecup is too soft
because to maintain
the suction thetoo
cup is configuration of thethe
soft to maintain grasped object. Hence,
configuration of the
combining the mechanical gripper/hand with the suction grasper is an efficient
grasped object. Hence, combining the mechanical gripper/hand with the suction grasper method to grasp general
is an
objects
efficientinmethod
different
to types
grasp of working
general environments.
objects in different The
typesgrasping
of workingsequence of this multi-function
environments. The grasping
gripper isof
sequence shown in Figure 11. gripper is shown in Figure 11.
this multi-function
Figure 11.
Figure 11. Grasping-sequence
Grasping-sequence demonstration
demonstration of
of the multi-function gripper.
the multi-function gripper.
3.4. Contact-Based Grasping

3.4. Contact-Based Grasping
In addition to the above-mentioned three types of grasping modes, this gripper can be used to
In addition to the above-mentioned three types of grasping modes, this gripper can be used to
perform some other challenging grasping tasks. One special feature of this linkage-driven gripper is
perform some other challenging grasping tasks. One special feature of this linkage-driven gripper is
that the orientation of the distal phalanx of each finger can be actively controlled and decoupled from
that the orientation of the distal phalanx of each finger can be actively controlled and decoupled
the open-close motion of the finger. Thus, during the parallel-grasping sequence, the distal phalanx
from the open-close motion of the finger. Thus, during the parallel-grasping sequence, the distal
can be maintained at a desired orientation even when it contacts with the external environment, as
phalanx can be maintained at a desired orientation even when it contacts with the external
shown in Figure 12. This grasping mode is quite useful when we plan to grasp relatively thin objects
environment, as shown in Figure 12. This grasping mode is quite useful when we plan to grasp
lying on a flat surface. Many grippers/hands fail to grasp objects in such a manner because when they
relatively thin objects lying on a flat surface. Many grippers/hands fail to grasp objects in such a
make contact with the supporting base, the orientation of the distal phalanx of their robotic finger will
manner because when they make contact with the supporting base, the orientation of the distal
change because of the coupled structure. To achieve grasping using other grippers/hands, a good
phalanx of their robotic finger will change because of the coupled structure. To achieve grasping
using other grippers/hands, a good calibration algorithm and a highly accurate computer-vision
Appl. Sci. 2019, 9, 5266 12 of 21
calibration
system arealgorithm and required
generally a highly accurate
to graspcomputer-vision system are
such objects without generally
making anyrequired
contacttowith
graspthe
such objects without
environment. making any contact with the environment.
(a) (b)
Figure
Figure 12. 12. Parallel
Parallel grasping
grasping during
during contact
contact with
with thethe environment.
environment. (a)(a) State
State when
when thethe gripper
gripper starts
starts
making contact with the supported surface. (b) State when the contact-based parallel grasping is done is
making contact with the supported surface. (b) State when the contact-based parallel grasping
done without
without lifting up.
lifting up.
3.5.3.5.
Grasping Thin
Grasping Objects
Thin viavia
Objects Scooping
Scooping
Because
Becausethethetwotwofingers
fingersof of
thethe
underactuated
underactuated gripper
gripperareare
independently
independently controlled and
controlled andthethe
orientation
orientationof of
thethedistal phalanx
distal phalanx of of
each finger
each cancan
finger be be
actively adjusted,
actively using
adjusted, our
using gripper
our to to
gripper pickpick
upupthin objects lying on a flat surface via scooping becomes possible [28]. We note
thin objects lying on a flat surface via scooping becomes possible [28]. We note that to ensurethat to ensure
that thethe
that fingertip
fingertipcancan
scoop
scoopin in
thethe
space between
space betweenthethe
object to to
object bebegrasped and
grasped thethe
and supporting
supporting base,
base,
thethe
fingernail forfor
fingernail insertion
insertionshould
should be be
specially designed
specially designedto be frictionless
to be and
frictionless sufficiently
and sharp.
sufficiently The
sharp. The
following experiment demonstrates the whole grasping
following experiment demonstrates the whole grasping sequence. sequence.
4. 4. Experimental
Experimental Evaluation
Evaluation and
and Discussion
Discussion
ToTo validate
validate thethe design
design concept
concept of of
thisthis multi-function
multi-function gripper,
gripper, an an aluminum
aluminum prototype
prototype is is
manufactured
manufactured to to
testtest
its its performance
performance in in
thethe
realreal world.
world. A commercially
A commercially available
available six-DOF
six-DOF robot
robot armarm
is integrated into the experimental system. Different types of grasping
is integrated into the experimental system. Different types of grasping modes, including parallel modes, including parallel
grasping,
grasping, shape-adaptive
shape-adaptive grasping,
grasping, combination
combination of the
of the suction and suction
mechanical and mechanical
grippers, grippers,
contact-based
grasping, and grasping thin objects lying on a flat surface via scooping, are experimentally verified. are
contact-based grasping, and grasping thin objects lying on a flat surface via scooping,
experimentally verified.
4.1. Independent Motion Demonstration
4.1. Independent Motion Demonstration
As mentioned earlier, this linkage-driven gripper has two fingers that can be controlled
As mentioned
independently. earlier,each
Furthermore, thisfinger
linkage-driven gripper has
has two independent two fingers
motions, i.e., the that can bemotion
open-close controlled
of
theindependently. Furthermore,
finger and distal-phalanx each finger
orientation has two independent
adjustment. Figure 13 showsmotions, i.e., the open-close
a demonstration of the motion
four
of the finger
independent and distal-phalanx
motions. From Figureorientation adjustment.
13a,b, the right Figure 13the
finger performs shows a demonstration
open-close motion. Fromof the
four 13b,c,
Figure independent motions. From
the distal-phalanx Figureof13a–b,
orientation thefinger
the right right is
finger performs
adjusted. Fromthe open-close
Figure motion.
13c,d, the left
From
finger Figure 13b–c,
performs the distal-phalanx
the open-close motion. From orientation
Figure of the right
13d,e, finger is adjusted.
the distal-phalanx From Figure
orientation of the 13c
left to
d, the
finger left fingerFinally,
is adjusted. performs theFigure
from open-close
13e,f, motion.
the two From
fingersFigure 13d–e,
are closed the distal-phalanx orientation
simultaneously.
of the left finger is adjusted. Finally, from Figure 13e to f, the two fingers are closed simultaneously.
Appl. Sci. 2019, 9, 5266 13 of 21

Figure 13. Demonstration of the independent motions of this linkage-driven gripper.
Figure 13. Demonstration

Figure 13.
4.2. Suction Experiments of the
Demonstration of the independent
independent motions
motionsof
ofthis
thislinkage-driven
linkage-drivengripper.
gripper.
4.2.AsSuction Experiments
mentioned earlier, suction grasping offers the advantage of grasping objects in a cluttered
4.2. Suction Experiments
narrowAs environment. Figuresuction
mentioned earlier, 14 shows someoffers
grasping examples of successful
the advantage suctionobjects
of grasping grasping, which are
in a cluttered
As mentioned earlier, suction grasping offers the advantage of grasping objects in a cluttered
difficult
narrowtoenvironment.
achieve withFigure
the mechanical
14 shows somegripper. However,
examples using the
of successful suction
suction gripper
grasping, to grasp
which are
narrow environment. Figure 14 shows some examples of successful suction grasping, which are
objects made
difficult of fabric
to achieve withmaterials or objects
the mechanical withHowever,
gripper. multipleusing
holestheissuction
difficult. Figure
gripper 15 shows
to grasp this
objects
difficult to achieve with the mechanical gripper. However, using the suction gripper to grasp
made
condition. of fabric materials or objects with multiple holes is difficult. Figure 15 shows this condition.
objects made of fabric materials or objects with multiple holes is difficult. Figure 15 shows this
condition.
Figure 14.Using
Figure14. Usingaasuction
suctiongripper
gripper to
to grasp
grasp objects in aa cluttered
clutterednarrow
narrowenvironment.
environment.(a)(a)Grasp
Graspanan
Figure 14. Using a suction gripper to grasp objects in a cluttered narrow environment. (a) Grasp an
object
objectfrom
fromthe
themesh
meshpen/pencil
pen/pencil cup
cup holder.
holder. (b) Grasp a fruit
fruit from
from the
the wine
wine glass.
glass.(c)
(c)Grasp
Graspan
anobject
object
object from the mesh pen/pencil cup holder. (b) Grasp a fruit from the wine glass. (c) Grasp an object
surrounded by other objects from the paper
surrounded box.objects from the paper box.
by other
surrounded by other objects from the paper box.
Appl. Appl. Sci. 2019,
Sci. 2019, 9, x FOR PEER REVIEW
9, 5266 14 of14
21 of 21
(a) (b)
(a) (b)
Figure 15. The suction gripper fails to grasp certain objects. (a) Bear toy. (b) Mesh pen/pencil cup
Figure
holder.
Figure Thesuction
15. The suctiongripper
gripperfails
fails
to to grasp
grasp certain
certain objects.
objects. (a) Bear
(a) Bear toy.
toy. (b) (b) Mesh
Mesh pen/pencil
pen/pencil cup
cup holder.
holder.
4.3. Linkage-Driven Gripper
4.3. Linkage-Driven Experiments
Gripper Experiments
4.3. Linkage-Driven
EvenEven
though Gripper
mechanicalExperiments
grippers have difficulty in grasping objects inobjects
a cluttered
though mechanical grippers have difficulty in grasping in a narrow
clutteredspace,
narrow
usingspace,
them to
Even though stably
using them grasp
mechanicalobjects in
to stablygrippersopen space
have in
grasp objects is simple.
difficulty
open space For the
in grasping objects shown
is simple.objects
For the in in Figure
a cluttered
objects 15,
inusing
shown narrow Figure 15,
the suction
space,using gripper
usingthethem totostably
suction grasp them
grasp
gripper to is difficult.
objects
grasp Iniscomparison,
in open
them Inusing
space is simple.
difficult. mechanical
For the objects
comparison, grippers
using shown toingrasp
mechanical Figuresuch
15, to
grippers
objects
using is
the simple,
suction as shown
gripper in
to Figure
grasp 16.
them is difficult.
grasp such objects is simple, as shown in Figure 16. In comparison, using mechanical grippers to
grasp such objects is simple, as shown in Figure 16.
(a) (b)
(a) (b)
FigureFigure 16. Two-finger
16. Two-finger underactuated
underactuated gripper
gripper succeeding
succeeding in grasping
in grasping certain
certain objects
objects thatdifficult
that are are difficult
Figure
for the 16. Two-finger
forsuction
the suction underactuated
gripper
gripper to grasp.
to grasp. gripper
(a) Bear
(a) Bear succeeding
toy.Mesh
toy. (b) in
(b) Mesh grasping certain
pen/pencil
pen/pencil objects
cup holder.
cup holder. that are difficult
for the suction gripper to grasp. (a) Bear toy. (b) Mesh pen/pencil cup holder.
Moreover, Figure
Moreover, 17 shows
Figure 17 showshowhowthe pinch motion
the pinch motionof theofdistal phalanx
the distal of the
phalanx ofrobotic finger
the robotic is is
finger
Moreover,
usedused
to grasp Figure
different
to grasp 17
different shows
objects inhow
objects in the
different pinch motion
scenarios.
different The
scenarios. of The
the distal
object phalanx
shown
object ofFigure
in Figure
shown in the17a
robotic
lies finger
17a above
lies is the
the
above
used to grasp
supporting
supporting different
base, i.e., there
base, objects
i.e., exists
there in adifferent
spare
exists scenarios.
space
a spare between
space Thethe
between object
the shown
object and the
object in Figure
and base. 17aActively
lies controlled
Actively
the base. above the
controlled
supporting
pinchpinch
motionbase,
motion i.e.,
allows there
the
allows exists
finger
the toascoop
finger spare space
the
to scoop thebetween
object up from
object upthefrom
object
the theand
bottom the base.
side.
bottom Figure
side. Actively controlled
17b shows
Figure 17b usingusing
shows
pinch motion
the closed
the closedallows
distal the
phalanx
distal finger
phalanx totograsp
to grasp scoop
a cupathe
cupobject
having a up
having afrom
lifting theThis
ear.
lifting bottom
ear. kindside.
This Figure
of grasping
kind 17b
of grasping shows
mode using
is similar
mode is similar
the closed
to caging distal
[29,30].phalanx
Figure to
17c grasp
shows a cup
how having
to grasp a lifting
objects ear.
with This
a kind
cone of
shape.
to caging [29,30]. Figure 17c shows how to grasp objects with a cone shape. Figure 17d shows grasping
Figure mode
17d is
shows similar
one one
to caging
example [29,30].
of
example graspingFigure
of graspingthough17c shows
making
though how to
contacts
making grasp objects
at both
contacts at with aand
phalanxes
both phalanxescone shape.
palm.
and palm.Figure 17d shows one
example of grasping though making contacts at both phalanxes and palm.
4.4. Combination of the Suction and Mechanical Grippers
The suction gripper cannot stably grasp heavy objects that lie in a narrow space. In this case,
the combination of suction and linkage-driven grippers will be an efficient method for achieving
stable grasping. Figure 18a shows an example of grasping a 1.35 kg dumbbell from a narrow space.
Figure 18b shows how the multi-function gripper is used to grasp an object with a cone shape and that
with an irregular shape.
Appl. Sci. 2019, 9, 5266 15 of 21
(a)
(b)
(c)
(d)
Figure17.
Figure 17.Examples
Examples ofof grasping
grasping by
by using
using the pinch motion
motion of distal
distal phalanx.
phalanx. (a)
(a)Grasping
Graspingaaroll
rollofof
toiletpaper
toilet paperlying
lyingabove
abovea supporting
a supporting base.
base. (b)(b) Grasping
Grasping a cup
a cup through
through caging.
caging. (c) Grasping
(c) Grasping a cup
a cup with
with
an an irregular
irregular shape.shape. (d) Grasping
(d) Grasping a baseball.
a baseball.
4.4. Combination of the Suction and Mechanical Grippers

The suction gripper cannot stably grasp heavy objects that lie in a narrow space. In this case,
the combination of suction and linkage-driven grippers will be an efficient method for achieving
stable grasping. Figure 18a shows an example of grasping a 1.35 kg dumbbell from a narrow space.
Figure 18b shows how the multi-function gripper is used to grasp an object with a cone shape and
that with an irregular shape.
Appl. Sci. 2019, 9, 5266 16 of 21
(a) (b)
Figure 18. Combination(a) of the suction and mechanical grippers. (a) Grasping(b) a heavy object from a
narrow space. (b) Grasping objects with certain shapes that are difficult to directly grasp by the
Figure 18. Combination
Combination of of the
thesuction
suctionand
andmechanical
mechanicalgrippers.
grippers.(a)(a)Grasping
Graspinga aheavy
heavyobject from
object a
from
mechanical gripper.
narrow
a narrowspace.
space.(b)(b)
Grasping
Graspingobjects
objectswith
withcertain
certainshapes
shapesthat
thatare
aredifficult
difficultto
to directly
directly grasp
grasp by
by the
mechanical gripper.
4.5. Environment Contact-Based Grasping
4.5. Environment
4.5. Environment
Figure 19 shows Contact-Based Graspinggrasping. We note that during physical contact with the
contact-based
Contact-Based Grasping
supporting
Figure base,
19 the torsion springgrasping.
is twisted.We Thus, after the contact-based grasping isthe
finished and
Figure 19showsshows contact-based
contact-based grasping. noteWe thatnoteduring
that physical contact
during physical with
contact supporting
with the
the six-DOF
base, the torsionrobot arm is lifting the gripper up, the torsion spring will be released. Because the
supporting base, spring is twisted.
the torsion springThus, after the
is twisted. Thus,contact-based grasping is finished
after the contact-based graspingand the six-DOF
is finished and
proximal
robot armand intermediate
is robot
lifting the gripper phalanxthe are passively coupled
will be by the torsion spring, the distance
the six-DOF arm is liftingup, torsion
the gripper up, spring
the torsion released.
spring willBecause the proximal
be released. Because and
the
between
intermediatetwo robotic
phalanx fingers
are might
passively increase
coupled by if we
the don’t
torsion control
spring, the
the gripper
distance actively.
between Hence,
two to
robotic
proximal and intermediate phalanx are passively coupled by the torsion spring, the distance
prevent the
fingers might objects from
increasefingers falling,
if we don’t we need
control to actively
the ifgripper control
actively. the closing
Hence, speed
to prevent of the gripper
the objects to
from
between two robotic might increase we don’t control the gripper actively. Hence, to
ensure
falling, that
we the closing speed is faster than the finger-opening speed caused thatby the liftingspeed
of the
prevent theneed to actively
objects control
from falling, the need
we closingto speed
activelyof the gripper
control thetoclosing
ensure speed the
ofclosing
the gripper to is
six-DOF
faster robot
than the arm.
finger-opening speed caused by the lifting of the six-DOF robot arm.
ensure that the closing speed is faster than the finger-opening speed caused by the lifting of the
six-DOF robot arm.
Figure 19. Example of environment contact-based grasping.

4.6. Grasping Thin Objects via Scooping
4.6. Grasping
Figure 20 Thin Objects
shows an via Scooping
example of grasping thin objects lying on a flat surface by scooping. We
note that the
Figure 20
4.6. Grasping fingernail
shows
Thin of the left
an example
Objects robotic fingerthin
of grasping
via Scooping usedobjects
for scooping
lying on needs to surface
a flat be sufficiently sharp and
by scooping. We
frictionless to scoop at the bottom side of the object. Moreover, the object to be grasped should
note that the fingernail of the left robotic finger used for scooping needs to be sufficiently sharp and not be
too Figure
rigid, and20an
shows an example
appropriate controlofalgorithm
grasping is
thin objectsfor
required lying
a on aand
stable flatrobust
surface by scooping.
scooping task. We
This
frictionless to scoop at the bottom side of the object. Moreover, the object to be grasped should not
note that the fingernail of the left robotic finger used for scooping needs to be sufficiently sharp and
frictionless to scoop at the bottom side of the object. Moreover, the object to be grasped should not
Appl.Sci.
Appl. Sci.2019,
2019,9,9,5266
x FOR PEER REVIEW 1717
ofof2121
be too rigid, and an appropriate control algorithm is required for a stable and robust scooping task.
This example
example only provides
only provides a simple
a simple demonstration
demonstration of theofpossibility
the possibility of performing
of performing a scooping
a scooping task
task using
using
our our proposed
proposed gripper.
gripper.
Figure 20. Example of scooping and picking up thin objects lying on a flat surface.
Appl. Sci. 2019, 9,Figure
x FOR PEER REVIEWof scooping and picking up thin objects lying on a flat surface.
20. Example 18 of 21
4.7. Discussion
coincide and friction forces generated are big enough, the parallel grasping generally can be
4.7. Discussion
Two-finger
achieved stably.grippers
The friction have forcebeen extensively
depends onused the in industrial
nature of two application
surfaces and automated
in contact. For assembly
example,
because Two-finger
60 to 70% grippers
of human’s have been
grasping extensively
of objects of used in
cylindrical,
the sliding contact and rolling contact would have different friction forces. And the friction industrial
parallelepiped, application and and
pyramidal automated
shapes
assembly
is performed
coefficient because
with only
between 60 to
thetwo 70% of
fingers,
contact human’s
and two-finger
surface grasping
and the object of
grippers objects
can are of cylindrical,
generally cheaper
be increased by adding parallelepiped,
anda easier
friction andas
to pad
use at
pyramidal
compared shapes
with is
multi-fingerperformed with
grippers/hands only two
[31,32]. fingers,
the fingertip. Furthermore, because the two-finger parallel grasping has only two contact Our and
prototype two-finger
gripper grippers
was are
manufactured generally
using
cheaper and
aluminum alloy.easier
Becauseto use ball asbearings
compared arewithused multi-finger
at allthe joints, grippers/hands
friction in the [31,32].
joints Our
canparallel
be prototypeto
considered
areas/points, grasping points would also influence stability of the two-finger grasping.
gripper
be was manufactured using aluminum alloy. Because ball bearings are used at all joints,
Fornegligible.
example, it might be unstable to grasp a relatively long object by selecting the corresponding
friction in thephasesjoints can be considered to be negligible.
graspDifferent
contact points shown of two-fingerin Figure grasping
23a. This withisonly becausetwo contact
the gravity points are shown
center of the in Figure
object 21.from
is far The
two Different
fingers will phases
make of two-finger
contact with the grasping
object in with
sequence.only two From contact
Figure points
21b,c, are
we shown
can see in
that Figure
the 21.
object
the grasping zone. The gravity force will generate some rotation torque, which is a leading cause of
The
is two fingers
dragged thewill
by two-finger
finger make duringcontact with the closure object inmovement.
sequence. From FigureFigure 21b,c, we canthe seephase
that
the unstable parallelcontinuous
grasping. Experiments of grasping 21d same
the demonstrates
object at different
the
where object is dragged by the finger during continuous closure movement. Figure 21d demonstrates
contacta points
static graspwere isperformed
achieved. as In order
showntoin model
Figure these 23b.phases,
We note the thatplanar thegraspgraspingmodelmotor [33] for was a
the phase
two-finger where a static grasp is achieved. In order to model these phases, the planar grasp model
actuated bygripper is shown
using almost thein sameFigure 22. The
current statictwo
in these equilibrium
experiments. condition
The left ofpanel
a planar shown grasp in can
Figurebe
[33] for a in
expressed two-finger
the directionsgripper of is shown
the contact in
and Figure
squeezing 22. The line static
as equilibrium condition of a planar
follows
23b demonstrates the success of a stable grasping by selecting the grasping points/area near the
grasp can be expressed in the directions of the contact and squeezing line as follows
gravity center. The right panel shown in Figure 24b demonstrates one case of unstable grasping.
As farFas1 cos Fψ
the1
1 −ψF2−cos
cos
objects1 F
with
2
ψ2 ψ
cos + µ+1 μ
F1Fsin
irregular
2 1 1
ψψ1 −−µμ2are
sin
shapes1
FF2 sin
2 2
sin ψ ψ2++mmobjif
concerned,
2 obj ( g gthe
cos cos
ψ ψsin
two
w
w sin
φ φw
+
contact
w a y)
+points
=a y0 = 0are not well
(8)
(8)
selected, the static force equilibrium might not be achieved. One example is shown in Figure 24,
− F1 sin ψ1 − F2 sin ψ2 + µ1 F1 cos ψ1 + µ2 F2 cos ψ2 + mobj ( g cos ψw cos φw + az ) = 0 (9)
1 sinψ 1 − F2 sinψ 2 + μ1 F1 cosψ 1 + μ 2 F2 cosψ 2 + mobj ( g cosψ w cos φw +az ) = 0
where the two −Fcontact points A and B are relatively far from each other. During applying(9)the
contact forces,
rA F1 (the ψ1 − µ1 cos ψ1 )of−the
sin configuration (sin ψmight
rB F2object 2 − µ2 cos ψ2 ) − N −(Initial
be changed g+a y sin φw of
rG mobjconfiguration = the
0 object is
(10)
obj ( g+ y ) sin
indicated by yellow color;
ψ 1 − μthe new−configuration μis indicated
where and F2rAare
F1 contact F1 (the
sin 1 cosψ 1) rBat ( sinψ 2 −points
F2 contact 2 cosψ ) − NB.−by µrG1m
transparent
µ2aare φgreen
= 0 color) because
(10)
forces grasping forces A2and and the w friction coefficients
the two do not coincide, a winding moment will be produced on the object. After
at contact points A and B. r and r represent the distances of contact points A and B. r represents the
where F1 and
continually F2 are
applying thethe A
grasping
grasping B force,
forces it atis not
contact surepointswhether A and the B. staticμ1 equilibrium
and μ2 are betweenG the friction two
distance
fingers of the
can gravity
becontact
achieved center.
or A W =Inmthis
not. obj g represents the weight vector of the objects. is It is orientated
coefficients at points and B. rA case, and raB multi-contact
represent the distances grasping generally
of contact points required
A and for B.
with an
achieving angle φ
stable with respect to the squeezing line and an angle
w grasping. For certain objects to be grasped, the wgrasping mode and grasp contact ψ with respect to the perpendicular
r represents the distance of the gravity
G to the y–z plane. a and a represents the acceleration obj
axis center. W = m g represents
components the weight
of the gravity vector
center of the
point. an N
points should be carefully y z
selected. It is also possible to increase the grasping stability by adding
objects.
is an It is orientated
external torque withon
acting anthe angleobject φw andwiththe respect
inertia to effect
the squeezing
due to theline and an angle
manipulator ψ w withis
movement
appropriate compliant structure to the fingertip because the compliance increases the ability of a
respect
also
gripper to conform
included.
to theThisperpendicular
grasp
to themodel shape axis of to thethe
describes ally–z
object situations
being ofa ya two-finger
plane.grasped, andand az also represents
grasping
increases thethe
as acceleration
pointed area out
of theby
Ceccarelli
components
contact [34].
patches, of the gravity center
increasing the grasp point. wrenchN isspace an external
[37]. torque acting on the object and the inertia
effect due to the manipulator movement is also included. This grasp model describes all situations
of a two-finger grasping as pointed out by Ceccarelli [34].
From Figures 21 and 22, it can be found that the static equilibrium might be difficult to achieve
by using only two grasping forces, especially in the case that the two fingertips are not parallel to
each other. From Equations (8) to (10), we can see that with only two grasping forces (two
unknowns), it might be difficult to ensure that all those three equations hold. As mentioned earlier,
both parallel grasping (two fingertips are parallel to each other) and non-parallel grasping (through
adjusting the orientation of the distal phalanx) can be realized by using our two-finger gripper.
As far as the parallel grasping is concerned, the parallel grasping force depends on friction
forces at the
Figure 21.fingertip
Different [35,36].
phases of The parallel
grasping grasping
objects. can be
(a) Initial achieved
impact. by using
(b) Second the outer
impact. or interior
(c) Applying
surfaceFigure 21. Different
parallelepiped phases
of the of grasping objects. (a) Initial impact. (b)
fingertip. For cylindrical objects or those with parallel surfaces to both Second impact. (c) Applying
grasping force. (d) Static equilibrium.
grasping
fingers, force. (d)or
the parallel Static equilibrium.
opposed grasping force can be produced. If the directions of these forces
Appl. Sci. 2019, 9, 5266 18 of 21
Figure 21. Different phases of grasping objects. (a) Initial impact. (b) Second impact. (c) Applying
grasping force. (d) Static equilibrium.
Figure 22.
Figure Planargrasp
22. Planar graspmodel
model of
of aa two-finger
two-finger gripper.
gripper.
From Figures 21 and 22, it can be found that the static equilibrium might be difficult to achieve by
using only two grasping forces, especially in the case that the two fingertips are not parallel to each
other. From Equations (8) to (10), we can see that with only two grasping forces (two unknowns), it
might be difficult to ensure that all those three equations hold. As mentioned earlier, both parallel
grasping (two fingertips are parallel to each other) and non-parallel grasping (through adjusting the
orientation of the distal phalanx) can be realized by using our two-finger gripper.
As far as the parallel grasping is concerned, the parallel grasping force depends on friction forces
at the fingertip [35,36]. The parallel grasping can be achieved by using the outer or interior surface
parallelepiped of the fingertip. For cylindrical objects or those with parallel surfaces to both fingers,
the parallel or opposed grasping force can be produced. If the directions of these forces coincide and
friction forces generated are big enough, the parallel grasping generally can be achieved stably. The
friction force depends on the nature of two surfaces in contact. For example, the sliding contact and
rolling contact would have different friction forces. And the friction coefficient between the contact
surface and the object can be increased by adding a friction pad at the fingertip. Furthermore, because
the two-finger parallel grasping has only two contact areas/points, grasping points would also influence
the stability of the two-finger parallel grasping. For example, it might be unstable to grasp a relatively
long object by selecting the corresponding grasp contact points shown in Figure 23a. This is because
the gravity center of the object is far from the grasping zone. The gravity force will generate some
rotation torque, which is a leading cause of the unstable two-finger parallel grasping. Experiments of
grasping the same object at different contact points were performed as shown in Figure 23b. We note
that the grasping motor was actuated by using almost the same current in these two experiments. The
left panel shown in Figure 23b demonstrates the success of a stable grasping by selecting the grasping
points/area near the gravity center. The right panel shown in Figure 24b demonstrates one case of
unstable grasping.
As far as the objects with irregular shapes are concerned, if the two contact points are not well
selected, the static force equilibrium might not be achieved. One example is shown in Figure 24, where
the two contact points A and B are relatively far from each other. During applying the contact forces,
the configuration of the object might be changed (Initial configuration of the object is indicated by
yellow color; the new configuration is indicated by transparent green color) because the two contact
forces do not coincide, a winding moment will be produced on the object. After continually applying
the grasping force, it is not sure whether the static equilibrium between two fingers can be achieved
or not. In this case, a multi-contact grasping generally is required for achieving stable grasping. For
certain objects to be grasped, the grasping mode and grasp contact points should be carefully selected.
It is also possible to increase the grasping stability by adding an appropriate compliant structure to
the fingertip because the compliance increases the ability of a gripper to conform to the shape of the
Appl. Sci. 2019, 9, 5266 19 of 21
object being grasped, and also increases the area of the contact patches, increasing the grasp wrench
space [37].
(a)
(a) (b)
(b)
Figure
Figure23.
23.Instable parallel
Instableparallel grasping
graspingofof
parallelgrasping the
ofthe two-finger
thetwo-finger underactuated gripper.
two-fingerunderactuated
underactuated gripper. (a)Demonstration
Demonstration of
Figure 23. Instable gripper. (a)(a)
Demonstration ofof
the
the instable
the instablegrasping
grasping due
due to unsuitable
to unsuitable contact
contact points.
points. (b) Experimental verification.
instable grasping due to unsuitable contact points. (b) (b) Experimental
Experimental verification.
verification.
Figure 24.
Figure 24. Instable
Instable parallel grasping
graspingof
parallel grasping ofirregular
irregularobjects.
objects.
Figure 24. Instable parallel of irregular objects.
5.5.Conclusions
Conclusions
5. Conclusions
To
Tograsp
graspgeneral
general objects differentworking
objects in different workingenvironments,
environments, a multi-function
a multi-function grasping
grasping system
system is
To grasp general objects in different working environments, a multi-function grasping system is
isdeveloped
developedininthis
thisstudy.
study.AAnewnewtwo-finger
two-fingerunderactuated
underactuatedgripper
gripperisisproposed
proposedand andintegrated
integratedtotoa a
developed in this study. A new two-finger underactuated gripper is proposed and integrated to a
suction-graspingsystem.
suction-grasping system. The
The performance
performance of of this
this multi-function
multi-functiongripper
gripperisisevaluated
evaluatedthrough
throughbothboth
suction-grasping system. The performance of this multi-function gripper is evaluated through both
simulationsand
simulations andreal-world
real-world experiments.
experiments. We We verify
verify that
that this
this multi-function
multi-functiongripper
grippercancanbebeused
usedtoto
simulations and real-world experiments. We verify that this multi-function gripper can be used to
performmany
perform manytypes
typesof ofgrasping
graspingtasks.
tasks.
perform many types of grasping tasks.
Two-fingergrasping
Two-finger grasping with
with onlyonly
twotwo contact
contact points
points mightmight
not benot be in
stable stable
someingrasping
some grasping
scenarios.
Two-finger grasping with only two contact points might not be stable in some grasping
Toscenarios.
achieve aTo achieve
stable a stablethe
grasping, grasping,
grasping the grasping
modes andmodes
contactand contact
points points
should should
be carefully beselected
carefullyby
scenarios. To taking
selected by achievethe a stable grasping,ofthethe
characteristics grasping modes
object, such asand
the contact
size and points
shape, should be carefully
the weight and
selected
locationby taking
of the the center,
gravity characteristics of the knowledge
and the friction object, such of as
thethe size into
surface, and consideration.
shape, the weight and
location of the gravity center, and the friction knowledge of the surface, into consideration.
For scooping and picking up thin objects lying on flat surfaces, our future work will focus on
For scooping
design special and picking
fingernails and up thin objects
appropriate lying on flat
motion/force surfaces,
control our future
algorithms work will
to increase the focus
successon
design special fingernails and appropriate motion/force control algorithms to increase
rate of grasping. Currently, we are using current feedback from the motor to detect the contact and the success
rate of grasping. Currently, we are using current feedback from the motor to detect the contact and
Appl. Sci. 2019, 9, 5266 20 of 21
taking the characteristics of the object, such as the size and shape, the weight and location of the gravity
center, and the friction knowledge of the surface, into consideration.
For scooping and picking up thin objects lying on flat surfaces, our future work will focus on
design special fingernails and appropriate motion/force control algorithms to increase the success rate
of grasping. Currently, we are using current feedback from the motor to detect the contact and grasping
state. In the future, tactile sensors will be added to the gripper to detect the contact and grasping forces.
Moreover, we will use the new three-DOF robotic finger to develop a multi-finger robotic hand.
Author Contributions: Conceptualization: L.K., J.-T.S., and B.-J.Y.; visualization: L.K. and J.-T.S.; software: L.K.;
writing—original draft preparation: L.K.; writing—review and editing: L.K.; supervision: B.-J.Y.; experimentation:
L.K., S.-H.K., J.-T.S., and W.-J.K.
Funding: This research was funded by the Technology Innovation Program (or Industrial Strategic Technology
Development Program) (Grant Number 20001856, Development of Robotic Work Control Technology Capable of
Grasping and Manipulating Various Objects in Everyday Life Environment Based on Multimodal Recognition and
Using Tools) funded by the Ministry of Trade, Industry and Energy (MOTIE, Sejong City, Korea), and performed
by the ICT-based Medical Robotic Systems Team of Hanyang University, Department of Electronic Systems
Engineering was supported by the BK21 Plus Program funded by the National Research Foundation of Korea
(NRF). The APC was funded by Grant Number 20001856.
Conflicts of Interest: The authors declare no conflict of interest.
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Featured Application: A multi-function grasping system is developed to grasp various objects in

Keywords: gripper; suction; underactuation; underactuated; robot end-effector

Appl. Sci. 2019, 9, 5266; doi:10.3390/app9245266 www.mdpi.com/journal/applsci

2. Architecture Description of the Multi-Function Gripper

Figure 1. The closing sequence of a two-phalanx underactuated robotic finger.

FigureFigure 3. (a) Architecture

2.2. Two-Finger Underactuated

Figure 5. Two-finger underactuated gripper + suction mechanism.

2.3. Comparison with One Commercialized Three-Phalanx Robotic Gripper

Appl. Sci. 2019, 9, x FOR PEER REVIEW 10 of 21

f = τa (LAK sin (θ a + θ c ) ) (6)

As we know, the whole finger moves as a single rigid body, we have

where θ c is a constant value that can be found from our design.

(a) φ= θa (b) (4)

As we know, the whole finger moves as a single rigid body, we have

where θc is a constant value that can be found from our design.

Thus, the parallel-grasping force can be obtained as

f = τa /(LAK sin(θa + θc )) (6)

3.2. Shape-Adaptive Grasping

3.4. Contact-Based Grasping

Appl. Sci. 2019, 9, 5266 13 of 21

Figure 13. Demonstration of the independent motions of this linkage-driven gripper.

Figure 13. Demonstration

4.4. Combination of the Suction and Mechanical Grippers

Figure 19. Example of environment contact-based grasping.

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