Affiliation:
1. King’s College London Centre for Robotics Research, Department of Engineering, , London WC2R 2LS , UK
2. Wuhan Institute of Technology School of Mechanical and Electrical Engineering, , Wuhan 430205 , China
3. Southern University of Science and Technology Institute of Robotics, , Shenzhen 518055 , China ;
Abstract
Abstract
Reconfigurable robotic hands can constitute one of the future trends of dexterous manipulator design, as they can strike a balance between precision, force exertion, flexibility, and adaptability. However, the feasible manipulation workspace of a reconfigurable robotic hand, the metamorphic hand, is complex as the finger operation planes alter with the reconfigurable palm’s motions. Different useful workspace approaches and grasp quality metrics have been introduced, but a precision manipulation workspace (PMW) approach for reconfigurable robotic hands has yet to be presented. This paper presents a hand workspace taxonomy based on previous studies, and a new approach to obtaining a PMW of a robotic hand which satisfies three properties: force closure, singularity avoidance, and interference avoidance. A grasp quality metric, termed the minimum friction coefficient (MFC), is introduced to indicate the force-closure conditions of a robotic hand’s configurations. Unlike the previous grasp quality metrics targeting online grasp-planning tasks, this MFC-based measure focuses on the offline design of robotic hands. This method is essential for conducting grasp planning, design optimization, and actuation reduction for reconfigurable robotic hands. Further, the approach is applied to a three-fingered metamorphic hand, and the results are studied thoroughly.
Cited by
1 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献
1. Deformable Morphing and Multivariable Stiffness in the Evolutionary Robotics;International Journal of Automotive Manufacturing and Materials;2023-10-24