Design of a Transmission With Gear Trains for Underactuated Mechanisms

摘要

This paper proposes a design method of transmissions for underactuated mechanisms. This transmission consists of active and passive gear trains that align a series of gears over several joints. The transmission has no kinematic singular point that restricts the workspace. Thus, arbitrary joint-connected motions of the underactuated mechanisms can be designed by combining the gear trains. We investigate the kinematics and statics of underactuated mechanisms to find a transmission matrix that realizes the desired connected motions and adaptive grasps. We also develop a method to design gear trains that corresponds to the transmission matrix. We extend this design method with stepped gears and belt–gear mechanisms to increase the design flexibility. The proposed method was experimentally validated using the two- and three-jointed mechanisms.