Geometric Analysis and Synthesis of the Metamorphic Robotic Hand

[+] Author and Article Information
Jian S. Dai

Department of Mechanical Engineering, King’s College London, University of London, Strand, London WC2R 2LS, UKjian.dai@kcl.ac.uk

Delun Wang

School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, PR Chinadlunwang@dlut.edu.cn

J. Mech. Des 129(11), 1191-1197 (Nov 02, 2006) (7 pages) doi:10.1115/1.2771576 History: Received October 27, 2005; Revised November 02, 2006

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.

Copyright © 2007 by American Society of Mechanical Engineers
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Figure 1

A metamorphic robotic hand with a spherical five-bar linkage mounted with three fingers

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Figure 2

An innate spherical four-bar phase of the metamorphic robotic hand

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Figure 3

Three finger operation planes

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Figure 4

The base plane Π0 and the finger f0 operation plane ∑0

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Figure 5

Finger operation planes ∑0 and ∑1

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Figure 6

Intersection of three finger operation planes

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Figure 7

The open-loop kinematic chain of the metamorphic hand

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Figure 8

Geometrical meaning of the adaptive circle fitting

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Figure 9

Trajectory synthesis procedure

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Figure 10

The synthesis of the remaining spherical links

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Figure 12

The metamorphic robotic hand




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