Skip to main content
SpringerLink
Log in

Framework Comparison Between a Multifingered Hand and a Parallel Manipulator

  • Conference paper
  • First Online:
Computational Kinematics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 15))

Abstract

In this paper we apply the kineto-static mathematical models commonly used for robotic hands and for parallel manipulators to an example of hand-plus-object (parallel manipulator) with three fingers (legs), each with two phalanges (links). The obtained analytical matrix expressions that define the velocity and static equations in both frameworks are shown to be equivalent. This equivalence clarifies the role of the grasp matrix versus the parallel manipulator Jacobian. Potential knowledge transfer between both fields is discussed in the last section.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Hardcover Book
USD 219.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Bohigas, O., Manubens, M., Ros, L.: A complete method for workspace boundary determination on general structure manipulators. IEEE Trans. Robot. 28(5), 993–1006 (2012)

    Article  Google Scholar 

  2. Cui, L., Dai, J.S.: Reciprocity-based singular value decomposition for inverse kinematic analysis of the metamorphic multifingered hand. J. Mech. Robot. 4(3), 034,502 (2012)

    Google Scholar 

  3. Dai, J.S., Jones, J.: Interrelationship between screw systems and corresponding reciprocal systems and applications. Mech. Mach. Theory 36, 743–761 (2001)

    Google Scholar 

  4. Ebert-Uphoff, I., Voglewede, P.A.: On the connections between cable-driven robots, parallel manipulators and grasping. In: IEEE International Conference on Robotics and Automation, pp. 4521–4526 (2004)

    Google Scholar 

  5. Gosselin, C., Angeles, J.: Singularity analysis of closed-loop kinematic chains. IEEE Trans. Robot. Autom. 6(3), 281–290 (1990)

    Article  Google Scholar 

  6. Kerr, J., Roth, B.: Analysis of multifingered hands. Int. J. Robot. Res. 4(3), 3–17 (1986)

    Article  Google Scholar 

  7. Merlet, J.-P.: Singular configurations of parallel manipulators and Grassmann geometry. Int. J. Robot. Res 8(5), 45–56 (1989)

    Article  Google Scholar 

  8. Merlet, J-P.: Parallel robots, second edition edn. Springer, New York (2006)

    Google Scholar 

  9. Mohamed, M., Duffy, J.: A direct determination of the instantaneous kinematics of fully parallel robot manipulators. J. Mech. Trans. Autom. Des. 107, 226–229 (1985)

    Article  Google Scholar 

  10. Montana, D.J.: The kinematics of multi-fingered manipulation. IEEE Trans. Robot. Autom. 11(4), 491–503 (1995)

    Article  Google Scholar 

  11. Odhner, L.U., Dollar, A.M.: Dexterous manipulation with underactuated elastic hands. In: IEEE International Conference on Robotics and Automation, pp. 5254–5260 (2011)

    Google Scholar 

  12. Prattichizzo, D., Trinkle, J.C.: Grasping. In: Siciliano, B., Khatib, O., (eds.) Springer handbook of robotics, chap. 28, pp. 671–700. Springer, New york (2008)

    Google Scholar 

  13. Salisbury, J.K., Craig, J.J.: Articulated hands: force control and kinematic issues. Int. J. Robot. Res. 1(1), 4–17 (1982)

    Article  Google Scholar 

  14. Shimoga, K.B.: Robot grasp synthesis algorithms: a survey. Int. J. Robot. Res. 15(3), 230–266 (1996)

    Article  Google Scholar 

  15. Staffetti, E., Thomas, F.: Analysis of rigid body interactions for compliant motion tasks using the Grassmann-Cayley algebra. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2325–2332 (2000)

    Google Scholar 

  16. Townsend, W.: The BarrettHand grasper—programmably flexible part handling and assembly. Indus. Robot. Int. J. 27, 181–188 (2000)

    Article  Google Scholar 

  17. Tsai, L.W.: Robot analysis. The mechanics of serial and parallel manipulators. Wiley, New York (1999)

    Google Scholar 

  18. Zhao, J., Li, B., Yang, X., Yu, H.: Geometrical method to determine the reciprocal screws and applications to parallel manipulators. Robotica 27(06), 929 (2009)

    Article  Google Scholar 

  19. Zlatanov, D.: Generalized singularity analysis of mechanisms. Ph.D. thesis (1998)

    Google Scholar 

  20. Zlatanov, D., Bonev, I., Gosselin, C.M.: Constraint singularities of parallel mechanisms. In: International Conference on Robotics and Automation, pp. 496–502 (2002)

    Google Scholar 

Download references

Acknowledgments

This work was supported in part by National Science Foundation grant IIS-0952856.

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering and Materials Science, Yale University, New Haven, CT, USA

    Júlia Borràs & Aaron M. Dollar

Authors
  1. Júlia Borràs
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Aaron M. Dollar
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Júlia Borràs .

Editor information

Editors and Affiliations

  1. Llorens Artigas, Inst Robótica e Informática Industrial, Barcelona, Spain

    Federico Thomas

  2. Mechanical Engineering, Idaho State University, Pocatello, Idaho, USA

    Alba Perez Gracia

Rights and permissions

Reprints and permissions

Copyright information

© 2014 Springer Science+Business Media Dordrecht

About this paper

Cite this paper

Borràs, J., Dollar, A.M. (2014). Framework Comparison Between a Multifingered Hand and a Parallel Manipulator. In: Thomas, F., Perez Gracia, A. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 15. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7214-4_25

Download citation

  • DOI: https://doi.org/10.1007/978-94-007-7214-4_25

  • Published:

  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-7213-7

  • Online ISBN: 978-94-007-7214-4

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation