Kinematic Analysis of a Novel Hybrid Hand

摘要：

　　This paper introduces a four-degrees-of-freedom robotic hand with a novel architecture,and presents its kinematic analysis.The hand is modelled as a hybrid manipulator,having three loops.The forward kinematic problem is relatively easier,and is readily solved to obtain all the 8 possible solutions in closed form.The inverse kinematic problem is more involved,and it is solved by decomposing the problem into three smaller subproblems,leading to a total of 48 solutions.The formulations are illustrated by numerical examples.

关键词： Robotic hand Hybrid manipulator Kinematic analysis

作者: Edison Tamilmani Sandipan Bandyopadhyay

作者单位: Robotics Laboratory, Department of Engineering Design,Indian Institute of Technology Madras, Madras 600036, TN, India

会议类型: 国际会议

会议名称: 2016中国机构与机器科学国际会议

会议地点: 广州

会议语种:英文

页码: 75-88

在线出版日期: 2016-12-15（万方平台首次上网日期，不代表论文的发表时间）