Designing Tendon-Driven Grippers with Graph Grammar & MCTS

Table of Links

Abstract and I. Introduction

II. Methods

III. Generation of Tendon Driven Grippers

IV. Results and Discussion

V. Conclusion and References

III. GENERATION OF TENDON DRIVEN GRIPPERS

A. Finger design

We simplify the process of optimizing robot component parameters by selecting from a few specific values. The grippers we design consists of the palm and up to four fingers where each finger can have up to five phalanges. The palm serves as the central point of a star topology graph, with each finger branching out as a separate connection. This representation encompasses all mechanisms of a similar nature. Graph grammar rules consist of nodes and edges. The nodes contain all the information, while the edges determine the sequence of details. As a result, each finger consists of three types of nodes: phalanxes, joints and transforms along the palm.

Fig. 4 shows schematic representation of a finger with...

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