Abstract
The well-known algorithms, such as the graphic method, analytical method or numerical method, have some defects when modelling the dexterous finger workspace, which is a significant kinematical feature of dexterous hands and valuable for grasp planning, motion control and mechanical design. A novel modelling method with convenient and parametric performances is introduced to generate the dexterous-finger reachable workspace. This method constructs the geometric topology of the dexterous-finger reachable workspace, and uses a joint feature recognition algorithm to extract the kinematical parameters of the dexterous finger. Compared with graphic, analytical and numerical methods, this parametric modelling method can automatically and conveniently construct a more vivid workspace's forms and contours of the dexterous finger. The main contribution of this paper is that a workspace-modelling tool with high interactive efficiency is developed for designers to precisely visualize the dexterous-finger reachable workspace, which is valuable for analysing the flexibility of the dexterous finger.
Highlights
Over the past few decades, there have been great strides made in the development of novel dexterous hands in the form of the Stanford/JPL hand [1], Utah/MIT hand [2], DLR hand [3], GIFU hand [4], DLR/HIT II hand [5], Vanderbilt hand [6], Smart Hand [7], DEXMART Hand [8], etc
The importance of the dexterous-hand reachable workspace lies in the planning and control of the dexterous hand’s motion, and in the mechanical design where the reachable work‐ space is used as a criterion so that the designed dexterous hand has large motion fields
It is difficult for researchers to imagine the dexterous-finger reachable workspace, which is beneficial for the grasping plan, motion control and mechanical design of dexterous hands
Summary
Over the past few decades, there have been great strides made in the development of novel dexterous hands in the form of the Stanford/JPL hand [1], Utah/MIT hand [2], DLR hand [3], GIFU hand [4], DLR/HIT II hand [5], Vanderbilt hand [6], Smart Hand [7], DEXMART Hand [8], etc. This formulation was a function of the dimensional parameters in the linkage chain and of the last revolute joint angle, only Both Tsai and Ceccarelli utilized the geometric properties to devise analytical algorithms for describing the work‐ space boundary. The numerical methods cannot automatically generate 3D surfaces, so the point cloud had to be imported into some commercial modelling software, such as UGS NX or Solidworks, for generating the 3D workspace [19]. This process is difficult for mechanical designers, who have to master the computing software, such as Matlab, C ++, and the 3D modelling software.
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