NDLI: Kinematics Analysis and Control of a Three-Fingered Metamorphic Robot Hand

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Calzati, Matteo Zhang, Ketao Castelli, Vincenzo Parenti Jian, S. Dai
Copyright Year	2016
Abstract	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.
Sponsorship	Design Engineering Division Computers and Information in Engineering Division
File Format	PDF
ISBN	9780791850169
DOI	10.1115/DETC2016-59491
Volume Number	Volume 5B: 40th Mechanisms and Robotics Conference
Conference Proceedings	ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Language	English
Publisher Date	2016-08-21
Publisher Place	Charlotte, North Carolina, USA
Access Restriction	Subscribed
Subject Keyword	Circuits Computer software Grasping Control systems Modeling Design Numerical analysis Kinematics Control algorithms Trajectories (physics) End effectors Engineering prototypes Servomotors
Content Type	Text
Resource Type	Article

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