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

Published online by Cambridge University Press:  17 June 2015

Evangelos Emmanouil ,
Guowu Wei  and
Jian S. Dai
Evangelos Emmanouil
Affiliation:
Centre for Robotics Research, Department of Informatics, King's College London, University of London, Strand, London WC2R 2LS, UK. Email: evangelos.emmanouil@kcl.ac.uk
Guowu Wei
Affiliation:
School of Computing, Science, and Engineering, University of Salford, The Crescent, Salford, Manchester M5 4WT, UK. Email: g.wei@salford.ac.uk
Jian S. Dai*
Affiliation:
Chair of Mechanisms and Robotics, Centre for Robotics Research, Department of Informatics, King's College London, Uuniversity of London, Strand, London WC2R 2LS, UK.
*
*Corresponding author. E-mail: jian.dai@kcl.ac.uk
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Summary

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

Robotic handSpherical five-bar linkageSpherical mechanismMetamorphic mechanismReconfigurable mechanismOrigami inspiredKinematicsWorkspaceJoint space
Type
Articles
Information
Robotica , Volume 34 , Issue 12 , December 2016 , pp. 2788 - 2805
Copyright
Copyright © Cambridge University Press 2015 

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