A Parametric Modelling Method for Dexterous Finger Reachable Workspaces. (17th March 2016)

• Record Type: Journal Article
• Authors: Yang, Wenzhen; Jin, Zhongzheng; Wu, XingLi; Chen, Guanwen; Pan, Zhigeng; Zhu, Zhichao
• Is Part Of: International journal of advanced robotic systems. Volume 13:Number 2(2016)
• Publication Date: 2016-03-17
• Subjects: Reachable Workspace -- Dexterous Finger -- Parametric Modelling -- Feature Recognition; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/62689
• Languages: English
• ISSNs: 1729-8806

Abstract

The well-known algorithms, such as the graphic method, analytical method or numerical method, have some defects when modelling the dexterous finger workspace, which is a significant kinematical feature of dexterous hands and valuable for grasp planning, motion control and mechanical design. A novel modelling method with convenient and parametric performances is introduced to generate the dexterous-finger reachable workspace. This method constructs the geometric topology of the dexterous-finger reachable workspace, and uses a joint feature recognition algorithm to extract the kinematical parameters of the dexterous finger. Compared with graphic, analytical and numerical methods, this parametric modelling method can automatically and conveniently construct a more vivid workspace's forms and contours of the dexterous finger. The main contribution of this paper is that a workspace-modelling tool with high interactive efficiency is developed for designers to precisely visualize the dexterous-finger reachable workspace, which is valuable for analysing the flexibility of the dexterous finger.