Research Papers

Posture, Workspace, and Manipulability of the Metamorphic Multifingered Hand With an Articulated Palm

[+] Author and Article Information
Lei Cui

King’s College London, University of London, Strand, London WC2R 2LS, UKlei.cui@kcl.ac.uk

Jian S. Dai1

 Tianjin University, Tianjin 300072, China; King’s College London, University of London, Strand, London WC2R 2LS, UKjian.dai@kcl.ac.uk


Corresponding author.

J. Mechanisms Robotics 3(2), 021001 (Mar 02, 2011) (7 pages) doi:10.1115/1.4003414 History: Received June 18, 2008; Revised December 20, 2010; Published March 02, 2011; Online March 02, 2011

This paper presents a novel multifingered hand with an articulated palm that makes the hand adaptable and reconfigurable. The posture of the new multifingered hand is enhanced by the additional motion of the palm and the workspace of fingers is augmented by the palm workspace. To analyze this integrated workspace, this paper introduces finger-operation planes to relate the finger motion to the palm motion and its configuration. Normals of these operation planes are used to construct a Gauss map. Adding an additional dimension, a four-dimensional ruled surface can be generated from this map to illustrate variation of posture. With the change of palm configurations, a posture manifold can be developed from the posture ruled surfaces. The workspace analysis is developed by introducing a palm workspace-triangle. This workspace-triangle evolves into a helical workspace-triangle tube when palm inputs vary and further develops into a four-dimensional presentation. This progresses into a set of workspaces of the multifingered hand by varying the palm configuration, leading to a larger workspace of the new multifingered hand as the union of the workspaces corresponding to individual palm configuration. This paper further investigates manipulability of the multifingered hand by modeling the contact point as a hypothetical spherical joint. Based on reciprocity relationship of screw systems, the finger Jacobian matrices and the hand Jacobian matrix are established. With singular value decomposition, manipulability of each finger is explored and the hand manipulability is revealed by the diagonal nature of the Jacobian matrix of the hand.

Copyright © 2011 by American Society of Mechanical Engineers
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Figure 1

The multifingered hand with an articulated palm

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Figure 2

The multifingered hand with the palm in a reconfigured position

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Figure 3

Parameters of the metamorphic palm

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Figure 4

The ith finger-operation plane

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Figure 5

Gauss map of the hand posture

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Figure 6

Augmented Gauss map of two hand postures

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Figure 7

Posture ruled surfaces with θ2 in the range of 0–2π while θ1=0

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Figure 8

Posture manifold

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Figure 9

A palm workspace-triangle when θ1=0 and θ2=π/2

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Figure 10

Palm helical workspace-triangle tube

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Figure 11

Palm workspace manifold

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Figure 12

The palm workspace-measure in the palm joint-space

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Figure 13

Hand workspace in deferent palm configurations

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Figure 14

Screws related to the joints of the multifingered hand

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Figure 15

Screw system of finger f1

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Figure 16

Manipulability of finger f1

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Figure 17

Screw system of finger f2

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Figure 18

The manipulability of finger f2 in the range of θ22=θ23=π/4



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