IEEE Robotics & Automation Magazine - March 2017 - 32
Yale OpenHand Project
images licensed by ingram publishing
Optimizing Open-Source
Hand Designs
for Ease of Fabrication
and Adoption
By Raymond R. Ma and Aaron M. Dollar
A
lthough grasping and manipulation are key aspects
of a robotic system's functionality, researchers
often only have a limited selection of end effectors compatible with their manipulator base.
This may either restrict the robotic system's full
range of capabilities or force researchers to compensate for
the end effector's intrinsic mechanical disadvantages
through compensatory, nonoptimal control strategies.
Advances in three-dimensional (3-D) printing have enabled
researchers to quickly customize mechanisms for specific
tasks, but the end product is usually not intended for
extended use. It would be beneficial to identify strategies to
augment the capabilities of additive manufacturing techniques to allow the easy and inexpensive construction of
durable and functional hardware. To that end, this article
Digital Object Identifier 10.1109/MRA.2016.2639034
Date of publication: 21 February 2017
32
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IEEE ROBOTICS & AUTOMATION MAGAZINE
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March 2017
details work on the Yale OpenHand Project, a library of lowcost, 3-D-printed, underactuated hand designs for researchers to freely implement and modify for their own use
cases. The designs use cast flexural joints made via the
hybrid deposition manufacturing (HDM) process to produce robust, impact-resistant subcomponents and help
account for the structural shortcomings of fused deposition
manufacturing (FDM). Several of these design examples are
presented, evaluated, and compared with commercial alternatives. We hope that providing an accessible and extensible
set of open-source hand designs will improve the iterative
design process and produce many more options for
researchers to utilize.
The Initial HDM Process
Although numerous innovative grasping mechanisms have
been presented in research literature [1], [2], end users of
robot hands are either restricted to spending a substantial
1070-9932/17©2017IEEE
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