Kinematics analysis and control of a three-fingered metamorphic robot hand

TY - CHAP

T1 - Kinematics analysis and control of a three-fingered metamorphic robot hand

AU - Calzati, Matteo

AU - Zhang, Ketao

AU - Castelli, Vincenzo Parenti

AU - Dai, Jian S.

PY - 2016

Y1 - 2016

N2 - This paper presents the kinematics analysis of a three-fingered metamorphic hand (Metahand) and the LabView based control system of the robotic hand. In this study, the structure of the Metahand composed of an articulated palm and three fingers is introduced first. With the design parameters of the hybrid structure of the Metahand, analytical modeling of both forward and inverse kinematics is revealed, leading to reachable workspace and trajectory of all three fingertips. In particular, the analytical modeling of inverse kinematics is further verified by a numeric method. Following the theoretical investigation, a complete prototype with integrated servomotors and electric circuit for control system are produced. Further, a control system with LabView software is developed to realize the kinematics based control algorithm. A number of grasping tests are implemented to demonstrate the dexterity of the three-fingered Metahand.

AB - This paper presents the kinematics analysis of a three-fingered metamorphic hand (Metahand) and the LabView based control system of the robotic hand. In this study, the structure of the Metahand composed of an articulated palm and three fingers is introduced first. With the design parameters of the hybrid structure of the Metahand, analytical modeling of both forward and inverse kinematics is revealed, leading to reachable workspace and trajectory of all three fingertips. In particular, the analytical modeling of inverse kinematics is further verified by a numeric method. Following the theoretical investigation, a complete prototype with integrated servomotors and electric circuit for control system are produced. Further, a control system with LabView software is developed to realize the kinematics based control algorithm. A number of grasping tests are implemented to demonstrate the dexterity of the three-fingered Metahand.

UR - http://www.scopus.com/inward/record.url?scp=85007593445&partnerID=8YFLogxK

U2 - 10.1115/DETC2016-59491

DO - 10.1115/DETC2016-59491

M3 - Conference paper

AN - SCOPUS:85007593445

SN - 9780791850169

VL - 5B-2016

BT - 40th Mechanisms and Robotics Conference

PB - American Society of Mechanical Engineers (ASME)

T2 - ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016

Y2 - 21 August 2016 through 24 August 2016

ER -