Kinematic Analysis and Prototype of a Metamorphic Anthropomorphic Hand with a Reconfigurable Palm

نویسندگان

  • Guowu Wei
  • Jian S. Dai
  • Shuxin Wang
  • Haifeng Luo
چکیده

A novel metamorphic anthropomorphic hand is for the first time introduced in this paper. This robotic hand has a reconfigurable palm that generates changeable topology and augments dexterity and versatility of the hand. Structure design of the robotic hand is presented and based on mechanism decomposition kinematics of the metamorphic anthropomorphic hand is characterized with closed-form solutions leading to the workspace investigation of the robotic hand. With characteristic matrix equation, twisting motion of the metamorphic robotic hand is investigated to reveal both dexterity and manipulability of the metamorphic hand. Through a prototype, grasping and prehension of the robotic hand are tested to illustrate characteristics of the new metamorphic anthropomorphic hand.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Anthropomorphic Modular Reconfigurable Gripper with Three Fingers-design and Prototype

In this paper one anthropomorphic modular reconfigurable gripper for robots are described , including a prototype. For the first time the stages of synthesis, analysis design and functional simulation are presented. The structural synthesis of the anthropomorphic grippers for robots can be made regarding the following main criteria: the number of fingers, the number of phalanxes, the relative d...

متن کامل

Anthropomorphic Modular Reconfigurable Grippers with Three and Four Fingers

In this paper one class of anthropomorphic modular reconfigurable grippers for robots are described , including a prototype. For the first time the stages of synthesis, analysis design and functional simulation are presented. We choice two versions: with three and four identical fingers with three phalanxes on finger. The kinematic synthesis is used to obtain a correct closing of the finger and...

متن کامل

Teleoperation of the SCHUNK S5FH under-actuated anthropomorphic hand using human hand motion tracking

This paper describes the development of a remote handling control of an anthropomorphic robotic hand, the SCHUNK S5FH, using the human hand as master by measuring its motion with OptiTrack Technology. The goal of thiswork is to enhancemanipulation studies on thehumanhand and to instantly transfer those studies on robotic hands. A preliminary study onmethods and devices used for fingers tracking...

متن کامل

Investigation of methods for constructing gloves with tactile and force feedback for virtual reality and telecontrol of anthropomorphic manipulators

Aims. Devices that allow using the functionality of natural hand movements are of the greatest interest. The purpose of this study is to select areas of research at the intersection of several fields of science – biomechanics and cybernetics to develop scientific and technical approaches to track the movements of the operator's fingers and form feedback tactile and force communication received ...

متن کامل

Mechatronic Hand Design with Integrated Mechanism in Palm for Efficiency Improve of the Finger.

One of the most important case in humanoid robot designing is hand, which it consider as an country development. High percentage of robot work quality depend on hand capability. A robot function increase with hand movement. One of important movement in artificial hand capability relate to fingers lateral movement. This case has more effect intake of special objects such as round shape or moving...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:
  • I. J. Humanoid Robotics

دوره 8  شماره 

صفحات  -

تاریخ انتشار 2011