Minimum Friction Coefficient-Based Precision Manipulation Workspace Analysis of the Three-Fingered Metamorphic Hand

Yen-Hua,Lin1; Tun,Wang1; Emmanouil,Spyrakos-Papastavridis1; Zhongtao,Fu2; Shuangjia,Xu1; Jian S.,Dai3

2023-05-02

10.1115/1.4062238

Journal of Mechanisms and Robotics   影响因子和分区

1942-4302

1942-4310

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.

grasp quality metric useful workspace minimum friction coefficient multi-fingered hand reconfigurable palm

SCI

英语

通讯

Engineering ; Robotics

Engineering, Mechanical ; Robotics

WOS:001161117900001

ASME International

人工提交

1.Centre for Robotics Research, Department of Engineering, King’s College London
2.School of Mechanical and Electrical Engineering, Wuhan Institute of Technology
3.Institute of Robotics, Southern University of Science and Technology, Shenzhen 518055, China;

Yen-Hua,Lin,Tun,Wang,Emmanouil,Spyrakos-Papastavridis,et al. Minimum Friction Coefficient-Based Precision Manipulation Workspace Analysis of the Three-Fingered Metamorphic Hand[J]. Journal of Mechanisms and Robotics,2023,15(5).

Yen-Hua,Lin,Tun,Wang,Emmanouil,Spyrakos-Papastavridis,Zhongtao,Fu,Shuangjia,Xu,&Jian S.,Dai.(2023).Minimum Friction Coefficient-Based Precision Manipulation Workspace Analysis of the Three-Fingered Metamorphic Hand.Journal of Mechanisms and Robotics,15(5).

Yen-Hua,Lin,et al."Minimum Friction Coefficient-Based Precision Manipulation Workspace Analysis of the Three-Fingered Metamorphic Hand".Journal of Mechanisms and Robotics 15.5(2023).