This paper presents a novel robotic hand with a metamorphic palm which changes the traditional structure of a robotic hand. Based on this new hand structure, the paper investigates motion of the robotic fingers with respect to the palm by presenting finger operation planes and by revealing the relationship between finger motion and palm motion. The study presents the normals of the finger operation planes as a function of the input angles of the palm and uses these normals to relate finger motion to palm motion. This leads to the coaxial condition of the finger-palm relationship that is then converted to the coplanar condition of normals of all finger operation planes. The condition is then used to generate a coupler trajectory, and the iterative trajectory fitting and curve approximation are used for synthesis of palm links, leading to differential geometry based synthesis of angular lengths of the metamorphic palm.
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e-mail: jian.dai@kcl.ac.uk
e-mail: dlunwang@dlut.edu.cn
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November 2007
Technical Briefs
Geometric Analysis and Synthesis of the Metamorphic Robotic Hand
Jian S. Dai,
Jian S. Dai
Professor of Mechanisms and Robotics
Department of Mechanical Engineering, King’s College London,
e-mail: jian.dai@kcl.ac.uk
University of London
, Strand, London WC2R 2LS, UK
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Delun Wang
Delun Wang
Professor of Mechanisms and Geometry
School of Mechanical Engineering,
e-mail: dlunwang@dlut.edu.cn
Dalian University of Technology
, Dalian 116024, PR China
Search for other works by this author on:
Jian S. Dai
Professor of Mechanisms and Robotics
Department of Mechanical Engineering, King’s College London,
University of London
, Strand, London WC2R 2LS, UKe-mail: jian.dai@kcl.ac.uk
Delun Wang
Professor of Mechanisms and Geometry
School of Mechanical Engineering,
Dalian University of Technology
, Dalian 116024, PR Chinae-mail: dlunwang@dlut.edu.cn
J. Mech. Des. Nov 2007, 129(11): 1191-1197 (7 pages)
Published Online: November 2, 2006
Article history
Received:
October 27, 2005
Revised:
November 2, 2006
Citation
Dai, J. S., and Wang, D. (November 2, 2006). "Geometric Analysis and Synthesis of the Metamorphic Robotic Hand." ASME. J. Mech. Des. November 2007; 129(11): 1191–1197. https://doi.org/10.1115/1.2771576
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