Hostname: page-component-8448b6f56d-t5pn6 Total loading time: 0 Render date: 2024-04-23T19:28:33.569Z Has data issue: false hasContentIssue false
  • English
  • Français

Spherical trigonometry constrained kinematics for a dexterous robotic hand with an articulated palm

Published online by Cambridge University Press:  17 June 2015

Evangelos Emmanouil ,
Guowu Wei  and
Jian S. Dai
Evangelos Emmanouil
Affiliation:
Centre for Robotics Research, Department of Informatics, King's College London, University of London, Strand, London WC2R 2LS, UK. Email: evangelos.emmanouil@kcl.ac.uk
Guowu Wei
Affiliation:
School of Computing, Science, and Engineering, University of Salford, The Crescent, Salford, Manchester M5 4WT, UK. Email: g.wei@salford.ac.uk
Jian S. Dai*
Affiliation:
Chair of Mechanisms and Robotics, Centre for Robotics Research, Department of Informatics, King's College London, Uuniversity of London, Strand, London WC2R 2LS, UK.
*
*Corresponding author. E-mail: jian.dai@kcl.ac.uk
Get access Rights & Permissions [Opens in a new window]

Summary

This work presents a method based on spherical trigonometry for computing all joint angles of the spherical metamorphic palm. The spherical palm is segmented into spherical triangles which are then solved and combined to fully solve the palm configuration. Further, singularity analysis is investigated with the analysis of each spherical triangle the palm is decomposed. Singularity-avoidance-based design criteria are then presented. Finally, point clouds are generated that represent the joint space of the palm as well as the workspace of the hand with the advantage of an articulated palm is shown.

Keywords

Robotic handSpherical five-bar linkageSpherical mechanismMetamorphic mechanismReconfigurable mechanismOrigami inspiredKinematicsWorkspaceJoint space
Type
Articles
Information
Robotica , Volume 34 , Issue 12 , December 2016 , pp. 2788 - 2805
Copyright
Copyright © Cambridge University Press 2015 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Melchiorri, C. and Kaneko, M., “Robot Hands,” In: Springer Handbook of Robotics (Siciliano, Bruno, Khatib, Oussama, eds.) (Springer, New York, NY, 2008) pp. 345–360.CrossRefGoogle Scholar
2. Bekey, G. A., Rajko, T. and Ilija, Z., “Control architecture for the belgrade/usc hand,” Dextrous Robot Hands 136–149 (1990) (http://www.springer.com/gp/book/9781461389767).CrossRefGoogle Scholar
3. Butterfass, J., Grebenstein, M., Liu, H. and Hirzinger, G., “Dlr-hand II: Next Generation of a Dextrous Robot Hand,” Proceedings of 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea, vol. 1 (2001) pp. 109–114.Google Scholar
4. Ambrose, R., Aldridge, H., Askew, R., Burridge, R., Bluethmann, W., Diftler, M., Lovchik, C., Magruder, D. and Rehnmark, F., “Robonaut: Nasa's Space Humanoid,” Intell. Syst. Appl. 15 (4), 57–63 (2000).Google Scholar
5. Lovchik, C. S. and Myron, A. D., “The Robonaut Hand: A Sexterous Robot Hand for Space,” Proceedings of 1999 IEEE International Conference on Robotics and Automation, Detroit, Michigan, USA, vol. 2 (1999) pp. 907–912.Google Scholar
6. Walker, R., “Design of a Dextrous Hand for Advanced Clawar Applications,” Conference Documentation of the 6th International Conference on Climbing and Walking Robots (CLAWAR) (2003) pp. 17–19.Google Scholar
7. Townsend, W., “The barrett hand grasper-programmably flexible part handling and assembly,” Indust. Robot: Int. J. 27, 181–188 (2000).Google Scholar
8. Carbone, G. and Ceccarelli, M., “Design of Larm Hand: Problems and Solutions,” IEEE International Conference on Automation, Quality and Testing, Robotics, 2008. AQTR, vol. 2 (2008) pp. 298–303.Google Scholar
9. Yao, C., Qiang, Z., Ceccarelli, M., Carbone, G., Shuangji, Y. and Zhen, L., “Design and Simulation of a dsp Controller for a Larm Hand,” Proceedings of the 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR), Wuhan, China, vol. 1 (2010) pp. 361–364.Google Scholar
10. Lotti, F., Tiezzi, P., Vassura, G., Biagiotti, L., Palli, G. and Melchiorri, C. “Development of ub Hand 3: Early Results,” Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, (2005) pp. 4488–4493.Google Scholar
11. Palli, G., Scarcia, U., Melchiorri, C. and Vassura, G., “Development of Robotic Hands: The ub Hand Evolution,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2012) pp. 5456–5457.Google Scholar
12. Liu, H., Wu, K., Meusel, P., Seitz, N., Hirzinger, G., Jin, M. H., Liu, Y. W., Fan, S. W., Lan, T. and Chen, Z. P., “Multisensory Five-Finger Dexterous Hand: The dlr/hit Hand ii,” IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2008. (2005) pp. 3692–3697.Google Scholar
13. Dongmin, C., Seunghoon, S., Choon, K. Ja, Ryeol, C. Hyouk and Hyungpil, M., “The SKKU Hand: Work in Progress,” Proceedings of the 9th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Daejeon, Korea, (2012) pp. 437–438.Google Scholar
14. Dai, J. S., Robotic hand with palm section comprising several parts able to move relative to each other, WO/2005/105391, (Nov. 10, 2005) (International Patent No. PCT/GB2005/001665 and UK Patent No. GB04 095 48.5).Google Scholar
15. Dai, J. S. and Wang, D., “Geometric analysis and synthesis of the metamorphic robotic hand,” J. Mech. Des. 129 (11), 1191–1197 (2007).Google Scholar
16. Dai, J. S., Wang, D. L. and Cui, L., “Orientation and workspace analysis of the multifingered metamorphic hand – metahand,” IEEE Trans. Robot. 25 (4), 942–947 (2009).Google Scholar
17. Wei, G., Dai, J. S., Wang, S. and Luo, H., “Kinematic analysis and prototype of a metamorphic anthropomorphic hand with a reconfigurable palm,” Int. J. Humanoid Robot. 08 (03), 459–479 (2011).CrossRefGoogle Scholar
18. Dai, J. S. and Jones, J. R., “Mobility in metamorphic mechanisms of foldable/erectable kinds,” J. Mech. Des. 121 (3), 375–382 (1999).CrossRefGoogle Scholar
19. Dai, J. S. and Jones, J. R., “Matrix representation of topological changes in metamorphic mechanisms,” J. Mech. Des. 127 (4), 837–840 (2005).Google Scholar
20. Wei, G. and Dai, J. S., “Origami-inspired integrated planar-spherical overconstrained mechanisms,” J. Mech. Des. Trans. ASME 136 (5), 051003 (2014).CrossRefGoogle Scholar
21. Liu, Y. and Ting, K. L., “On the rotatability of spherical n-bar chains,” Trans. ASME: J. Mech. Des. 116 (9), 920–923 (1994).Google Scholar
22. Gosselin, C. M. and Hamel, J. F. “The Agile Eye: A High-Performance Three-Degree-of-Freedom Camera-Orienting Device,” Proceedings of IEEE International Conference on Robotics and Automation, San Diego, CA, USA, (1994) pp. 781–787.Google Scholar
23. Wampler, C. W., “Displacement analysis of spherical mechanisms having three or fewer loops,” ASME J. Mech. Des. 126, 93–100 (2004).Google Scholar
24. McCarthy, J. M., Geometric Design of Linkages (Springer, New York, NY, 2000).Google Scholar
25. Gupta, K. C. and Beloiu, A. S., “Branch and circuit defect elimination in spherical four-bar linkages,” Mechanism 33 (5), 491–504 (1998).Google Scholar
26. Chiang, C. H., Kinematics of Spherical Mechanisms (Krieger Pub Co., Malabar, Florida, USA, 2000)Google Scholar
27. Duffy, J., Analysis of Mechanisms and Robot Manipulators (1980).Google Scholar
28. Cui, L. and Dai, J. S., “Posture, workspace, and manipulability of the metamorphic multifingered hand with an articulated palm,” J. Mech. Robot. Trans. ASME 3 (2), 021001 (2011).CrossRefGoogle Scholar
29. Ceccarelli, M., Fundamentals of Mechanics of Robotic Manipulation (Kluwer/Springer, New York, NY, 2004).CrossRefGoogle Scholar