Abstract
Current research on robotic dexterous hands mainly focuses on designing new finger and palm structures, as well as developing smarter control algorithms. Although the dimensional synthesis of dexterous hands with traditional rigid palms has been carried out, research on the dimensional synthesis of dexterous hands with metamorphic palms remains insufficient. This study investigated the dimensional synthesis of a palm of a novel metamorphic multi-fingered hand, and explored the geometric design for maximizing the precision manipulation workspace. Different indexes were used to value the workspace of the metamorphic hand, and the best proportions between the five links of the palm to obtain the optimal workspace of the metamorphic hand were explored. Based on the fixed total length of the palm member, four nondimensional design parameters that determine the size of the palm were introduced; through the discretization method, the influence of the four design parameters on the workspace of the metamorphic hand with full-actuated fingers and under-actuated fingers was analyzed. Based on the analysis of the metamorphic multi-fingered hand, the symmetrical structure of the palm was designed, resulting in the largest workspace of the multi-fingered hand, and proved that the metamorphic palm has a massive upgrade for the workspace of underactuated fingers. This research contributed to the dimensional synthesis of metamorphic dexterous hands, with practical significance for the design and optimization of novel metamorphic hands.
Highlights
1 Introduction For decades, robotic and prosthetic hand designers have been interested in making a life-like mechanical dexterous hand, from which a large number of robotic hands can be derived
This study aims to investigate the dimensional synthesis of a metamorphic hand and discuss the effects of the design parameters on the palm and finger workspaces
Dimensional synthesis is applied to the metamorphic multi-fingered palm with different palm workspace indicators, and observations are made on the relationship between the design parameters and the indicators
Summary
Robotic and prosthetic hand designers have been interested in making a life-like mechanical dexterous hand, from which a large number of robotic hands can be derived. To prevent the problems caused by the freedom of a human hand as much as possible, researchers and designers use under-actuated fingers and palms with low degrees of freedom to achieve grasping action [1]. Simpler hands with fewer joints and fingers can still achieve a high degree of functionality with a simplified structure [2]. With further advancement in the field, several famous robot dexterous hands [4,5,6,7,8,9,10] have been created. In the 21st century, international research on robotic dexterous hands has gradually shifted from exploration and
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