Design of dexterous hands based on parallel finger structures. (October 2020)
- Record Type:
- Journal Article
- Title:
- Design of dexterous hands based on parallel finger structures. (October 2020)
- Main Title:
- Design of dexterous hands based on parallel finger structures
- Authors:
- Jin, Xiaodong
Fang, Yuefa
Zhang, Dan
Gong, Junshan - Abstract:
- Highlights: Two types of parallel fingers are designed by structural evolution associated with Lie group deduction. Two novel 3-finger dexterous hands with parallel finger structures are proposed. The dexterous hands have much higher carrying capacity due to their parallel finger structures. The dexterous hands have high task adaptability and large finger workspace. The dexterous hands are able to manipulate the object in planar 3-DOF and spatial 6-DOF, respectively. Abstract: The dexterous hands with high dexterity, high carrying capability, high precision and high task adaptability (multipurpose) are demanded in industry. This paper focuses on designing dexterous hands based on the parallel finger structures to improve above performances. Based on the motion property of human finger, the required motion types of the dexterous hands are proposed. The finger structures of RR-RPR and 2-UU-UPU are presented by structural evolution from the well-known PMs of parallelogram and 3-UU by means of group deduction, respectively. Two three-finger dexterous hands are designed by assembling the obtained parallel fingers on the palm in the same direction. The in-hand configurations are actually hybrid mechanisms, whose motion properties are analyzed by equivalent to the parallel mechanisms (PMs). The hands have high task adaptability that can perform the pinching operations both from the outside and inside the cavity of the objects. The kinematics of the fingers are presented toHighlights: Two types of parallel fingers are designed by structural evolution associated with Lie group deduction. Two novel 3-finger dexterous hands with parallel finger structures are proposed. The dexterous hands have much higher carrying capacity due to their parallel finger structures. The dexterous hands have high task adaptability and large finger workspace. The dexterous hands are able to manipulate the object in planar 3-DOF and spatial 6-DOF, respectively. Abstract: The dexterous hands with high dexterity, high carrying capability, high precision and high task adaptability (multipurpose) are demanded in industry. This paper focuses on designing dexterous hands based on the parallel finger structures to improve above performances. Based on the motion property of human finger, the required motion types of the dexterous hands are proposed. The finger structures of RR-RPR and 2-UU-UPU are presented by structural evolution from the well-known PMs of parallelogram and 3-UU by means of group deduction, respectively. Two three-finger dexterous hands are designed by assembling the obtained parallel fingers on the palm in the same direction. The in-hand configurations are actually hybrid mechanisms, whose motion properties are analyzed by equivalent to the parallel mechanisms (PMs). The hands have high task adaptability that can perform the pinching operations both from the outside and inside the cavity of the objects. The kinematics of the fingers are presented to investigate the workspace performance, and the statics are analyzed to prove that the proposed parallel dexterous hands can provide desirable pinching force. … (more)
- Is Part Of:
- Mechanism and machine theory. Volume 152(2020)
- Journal:
- Mechanism and machine theory
- Issue:
- Volume 152(2020)
- Issue Display:
- Volume 152, Issue 2020 (2020)
- Year:
- 2020
- Volume:
- 152
- Issue:
- 2020
- Issue Sort Value:
- 2020-0152-2020-0000
- Page Start:
- Page End:
- Publication Date:
- 2020-10
- Subjects:
- Dexterous hands -- Parallel mechanism -- Parallel finger structure -- Lie group -- Carrying capability -- Multipurpose
Machine theory -- Periodicals
Machinery -- Periodicals
Machines -- Périodiques
Génie mécanique -- Périodiques
Machine theory
Machinery
Periodicals
621.81 - Journal URLs:
- http://www.sciencedirect.com/science/journal/0094114X ↗
http://www.elsevier.com/journals ↗ - DOI:
- 10.1016/j.mechmachtheory.2020.103952 ↗
- Languages:
- English
- ISSNs:
- 0094-114X
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - 5424.570800
British Library DSC - BLDSS-3PM
British Library HMNTS - ELD Digital store - Ingest File:
- 13353.xml