A Novel Reconfigurable Dexterous Hand Based on Triple-Symmetric Bricard Parallel Mechanism
🤖 AI Summary
This work proposes a reconfigurable dexterous hand based on a tri-symmetric Bricard parallel mechanism, addressing the longstanding challenge of simultaneously achieving dexterity, stability, and load capacity in robotic grasping of diverse objects. For the first time, this mechanism is integrated into palm design, where topological and dimensional synthesis are employed to optimize degrees of freedom and link configurations for adaptive grasping. A kinematic model is formulated using screw theory and closed-loop constraints, followed by a comprehensive analysis incorporating workspace, stiffness, and force/motion transmission efficiency. Experimental validation with a physical prototype demonstrates significant improvements in grasping versatility, manipulation accuracy, and stability, thereby enhancing overall general-purpose grasping performance.
Application Category
📝 Abstract
This paper introduces a novel design for a robotic hand based on parallel mechanisms. The proposed hand uses a triple-symmetric Bricard linkage as its reconfigurable palm, enhancing adaptability to objects of varying shapes and sizes. Through topological and dimensional synthesis, the mechanism achieves a well-balanced degree of freedom and link configuration suitable for reconfigurable palm motion, balancing dexterity, stability, and load capacity. Furthermore, kinematic analysis is performed using screw theory and closed-loop constraints, and performance is evaluated based on workspace, stiffness, and motion/force transmission efficiency. Finally, a prototype is developed and tested through a series of grasping experiments, demonstrating the ability to perform stable and efficient manipulation across a wide range of objects. The results validate the effectiveness of the design in improving grasping versatility and operational precision, offering a promising solution for advanced robotic manipulation tasks.
Problem
Research questions and friction points this paper is trying to address.
reconfigurable robotic hand
dexterous manipulation
grasping versatility
parallel mechanism
adaptive grasping
Innovation
Methods, ideas, or system contributions that make the work stand out.
reconfigurable palm
Bricard linkage
parallel mechanism
dexterous hand
screw theory
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