Geometric Analysis and Synthesis of the Metamorphic Robotic Hand

Abstract

This paper presents a novel robotic hand with a metamorphic palm which changes the traditional structure of a robotic hand. Based on this new hand structure, the paper investigates motion of the robotic fingers with respect to the palm by presenting finger operation planes and by revealing the relationship between finger motion and palm motion. The study presents the normals of the finger operation planes as a function of the input angles of the palm and uses these normals to relate finger motion to palm motion. This leads to the coaxial condition of the finger-palm relationship that is then converted to the coplanar condition of normals of all finger operation planes. The condition is then used to generate a coupler trajectory, and the iterative trajectory fitting and curve approximation are used for synthesis of palm links, leading to differential geometry based synthesis of angular lengths of the metamorphic palm.

Kinematic synthesis using tree topologies

“…See recent reviews of different applications in [35,36]. In addition to this, modular fingers have been designed that able to perform certain grasping actions and are later integrated in a hand [37]. The development of a theory for the use of dimensional kinematic synthesis on tree topologies aims to create a tool for new designs that can be applied, for instance, in many areas of human-robot interaction.…”

Unified Singularity Modeling and Reconfiguration of 3rTPS Metamorphic Parallel Mechanisms with Parallel Constraint Screws

“…Following this, some research interests move to the topology description of various mobility-configurations of metamorphic mechanisms, including matrix operations [12], joint code [13], joint-gene Article ID 352797 based topological representation [14], lie displacement subgroup [15], and operation space with motion compatibility representation [16]. Other works are related to applications of metamorphic mechanisms, like metamorphic underwater vehicle [17] and metamorphic multifingered hand with an articulated palm [18]. Recently, some work has been done on metamorphic parallel mechanisms.…”

Quaternion Method for the Kinematics Analysis of Parallel Metamorphic Mechanisms

“…From then on, the metamorphic mechanism has become a hot research spot in the field of mechanisms. Metamorphic mechanisms have a broad application prospect in many fields such as aerospace [3,4], modern manufacturing [5,6] and robots [7][8][9]. As the development of the metamorphic mechanism is still in its infancy, the current study of metamorphic mechanisms focuses on the structure theory [10] and has made some research results [11][12][13][14][15][16][17].…”