Journal
INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS
Volume 8, Issue 3, Pages 459-479Publisher
WORLD SCIENTIFIC PUBL CO PTE LTD
DOI: 10.1142/S0219843611002538
Keywords
Metamorphic mechanisms; metamorphic hand; reconfigurable palm; Kinematics
Categories
Funding
- Innovation China-UK (ICUK) [KCL02]
- National Natural Science Foundation of China (NSFC) [50705095]
- Engineering and Physical Science Research Council (EPSRC) of the United Kingdom [EP/E012574/1]
- Engineering and Physical Sciences Research Council [EP/E012574/1, EP/F031394/1] Funding Source: researchfish
- EPSRC [EP/E012574/1, EP/F031394/1] Funding Source: UKRI
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A novel metamorphic anthropomorphic hand is for the first time introduced in this paper. This robotic hand has a reconfigurable palm that generates changeable topology and augments dexterity and versatility of the hand. Structure design of the robotic hand is presented and based on mechanism decomposition kinematics of the metamorphic anthropomorphic hand is characterized with closed-form solutions leading to the workspace investigation of the robotic hand. With characteristic matrix equation, twisting motion of the metamorphic robotic hand is investigated to reveal both dexterity and manipulability of the metamorphic hand. Through a prototype, grasping and prehension of the robotic hand are tested to illustrate characteristics of the new metamorphic anthropomorphic hand.
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