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

Evangelos Emmanouil; Guowu Wei; Jian S. Dai

doi:10.1017/S0263574715000399

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

Evangelos Emmanouil, Guowu Wei, Jian S. Dai^*

^*Corresponding author for this work

University of Salford

Research output: Contribution to journal › Article › peer-review

20 Citations (Scopus)

Abstract

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.

Original language	English
Journal	Robotica
DOIs	https://doi.org/10.1017/S0263574715000399
Publication status	Accepted/In press - 17 Jun 2015

Keywords

Joint space
Kinematics
Metamorphic mechanism
Origami inspired
Reconfigurable mechanism
Robotic hand
Spherical five-bar linkage
Spherical mechanism
Workspace

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10.1017/S0263574715000399

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title = "Spherical trigonometry constrained kinematics for a dexterous robotic hand with an articulated palm",

abstract = "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 = "Joint space, Kinematics, Metamorphic mechanism, Origami inspired, Reconfigurable mechanism, Robotic hand, Spherical five-bar linkage, Spherical mechanism, Workspace",

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AU - Emmanouil, Evangelos

AU - Wei, Guowu

AU - Dai, Jian S.

PY - 2015/6/17

Y1 - 2015/6/17

N2 - 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.

AB - 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.

KW - Joint space

KW - Kinematics

KW - Metamorphic mechanism

KW - Origami inspired

KW - Reconfigurable mechanism

KW - Robotic hand

KW - Spherical five-bar linkage

KW - Spherical mechanism

KW - Workspace

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DO - 10.1017/S0263574715000399

M3 - Article

AN - SCOPUS:84931044158

SN - 0263-5747

JO - Robotica

JF - Robotica

ER -

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

Abstract

Keywords

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