Workspace of multi-fingered hands using Monte Carlo method

[+] Author and Article Information
Arkadeep Narayan Chaudhury

Graduate Student, Department of Mechanical Engineering, Indian Institute of Science, Bangalore 560 012, India

Ashitava Ghosal

Professor, Department of Mechanical Engineering, Indian Institute of Science, Bangalore 560 012, India

1Corresponding author.

ASME doi:10.1115/1.4039001 History: Received July 25, 2017; Revised December 22, 2017


Multi-fingered hands have the capability of dexterous manipulation of grasped objects and thus significantly increase the capabilities of a robot equipped with multi-fingered hands. Inspired by a multi-jointed human finger and the hand, we propose a six-degree-of-freedom model of a three-fingered robotic hand as a parallel manipulator. Two kinds of contact, namely point contact with friction and rolling without slipping between the finger tips and the grasped object, are considered. The point contact with friction is modeled as a three-degree-of-freedom spherical joint and for rolling without slipping, we use the resultant non-holonomic constraints between the grasped object and the fingers. With realistic limits on the joints in the fingers and dimensions of finger segments, we obtain the well-conditioned workspace of the parallel manipulator using a Monte Carlo based method. Additionally, we present two new general results -- it is shown that maximum position and orientation workspace is obtained when the cross sectional area of the of the grasped object is approximately equal to the area of the palm of the hand and when rolling without slipping is allowed the size of of the well-conditioned workspace is significantly larger (~ 1.2 - 1.5 times). We also present representative experiments of manipulation by a human hand show that the experimental results are in reasonable agreement with those obtained from simulations.

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