Skip to main content
SpringerLink
Log in

Inverse Kinematics and Kineto-Statics of Metamorphic Palm of the KCL/TJU Metamorphic Hand

  • Conference paper
  • First Online:
Advances in Reconfigurable Mechanisms and Robots II

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 36))

Abstract

This paper focuses on the inverse velocity analysis and inverse acceleration analysis using the screw theory, then pays attention to kineto-statics of metamorphic palm of the KCL/TJU metamorphic hand using D’Alembert principle to get the analytical model of reaction forces in all the joints and equilibrant moments exerted on active links. The work in this article will make a foundation for the whole hands’ kinematic and dynamic model of in-hand manipulation which remain to be done in the future and provide a theoretical basis for the optimization of size and other characters of the KCL/TJU metamorphic hand which will be done in the future.

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 259.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 329.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 329.99
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. Iwata, H., Sugano, S.: Design of anthropomorphic dexterous hand with passive joints and sensitive soft skins. In: IEEE/SICE International Symposium on System Integration, pp. 129–134 (2009)

    Google Scholar 

  2. Park, S.W., Bae, J.H., Park, J.H., Baeg, M.H.: Development of an anthropomorphic robot hand aimed at practical use for wide service robot application. In: IEEE International Conference on Automation Science and Engineering (CASE), pp. 431–435 (2012)

    Google Scholar 

  3. Lee, S., Noh, S., Lee, Y.K., Park, J.H.: Development of bio-mimetic robot hand using parallel mechanisms. In: IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 550–555 (2009)

    Google Scholar 

  4. Dai, J.S., Wang, D.: Geometric analysis and synthesis of the metamorphic robotic hand. ASME Trans. J Mech. Des. 129(11), 1191–1197 (2007)

    Article  Google Scholar 

  5. Cui, L., Dai, J.S.: Reciprocity-based singular value decomposition for inverse kinematic analysis of the metamorphic multifingered hand. J. Mech. Robot. 4(3), 034502 (2012)

    Article  Google Scholar 

  6. Cui, L., Dai, J.S.: Posture, workspace, and manipulability of the metamorphic multifingered hand with an articulated palm. J. Mech. Robot. 3(2), 021001 (2011)

    Article  Google Scholar 

  7. Wei, G., Dai, J.S., Wang, S.X., Luo, H.F.: Kinematic analysis and prototype of a metamorphic anthropomorphic hand with a reconfigurable palm. Int. J. Humanoid Rob. 8(03), 459–479 (2011)

    Article  Google Scholar 

  8. Gao, Z., Wei, G., Dai, J.S.: Inverse kinematics and workspace analysis of the metamorphic hand, In: Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 0954406214541429 (2014)

    Google Scholar 

  9. Maekawa, H., Tanie, K., Komoriya, K.: Dynamic grasping force control using tactile feedback for grasp of multifingered hand. In: IEEE International Conference on Robotics and Automation, pp. 2462–2469 (1996)

    Google Scholar 

  10. Wimböck, T., Ott, C., Albu-Schäffer, A., Hirzinger, G.: Comparison of object-level grasp controllers for dynamic dexterous manipulation. Int. J. Robot. Res. 31(1), 3–23 (2012)

    Article  Google Scholar 

  11. Sudsang, A., Ponce, J., Srinivasa, N.: Grasping and in-hand manipulation: Geometry and algorithms. Algorithmica 26(3–4), 466–493 (2000)

    Article  MathSciNet  MATH  Google Scholar 

  12. Dai, J.S.: Screw Algebra and Lie Groups and Lie Algebras, Higher Education Press, Beijing, also Screw Algebra and Kinematic Approaches for Mechanisms and Robotics. Springer, London (2014)

    Google Scholar 

  13. Dai, J.S.: Geometrical Foundations and Screw Algebra for Mechanisms and Robotics, Higher Education Press, Beijing, also Screw Algebra and Kinematic Approaches for Mechanisms and Robotics, Springer. Euler-Rodrigues Formula Variations, Quaternion Conjugation, London (2014)

    Google Scholar 

  14. Rico, J.M., Duffy, J.: An application of screw algebra to the acceleration analysis of serial chains. Mech. Mach. Theory 31(4), 445–457 (1996)

    Article  MathSciNet  Google Scholar 

  15. Gallardo, J., Rico, J.M., Frisoli, A., Checcacci, D., Bergamasco, M.: Dynamics of parallel manipulators by means of screw theory. Mech. Mach. Theory 38(11), 1113–1131 (2003)

    Article  MathSciNet  MATH  Google Scholar 

Download references

Acknowledgments

This research is sponsored by the National Natural Science Foundation of China (NSFC) Program No. 51175366.

Author information

Authors and Affiliations

  1. Centre for Advanced Mechanisms and Robotics, Tianjin University, Tianjin, People’s Republic of China

    Chunsong Zhang & Jian S. Dai

  2. Centre of Robotics Research, School of Natural Sciences and Mathematics, King’s College London, London, WC2R 2LS, UK

    Jian S. Dai

Authors
  1. Chunsong Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Jian S. Dai
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Jian S. Dai .

Editor information

Editors and Affiliations

  1. Beihang University, Beijing, China

    Xilun Ding

  2. Heriot-Watt University, Edinburgh, United Kingdom

    Xianwen Kong

  3. Kings College London, Strand, LONDON WC2R 2LS, United Kingdom

    Jian S. Dai

Appendix

Appendix

$${\text{R = }}\left[ {\begin{array}{*{20}c} {F_{01x} } \\ {F_{01y} } \\ {F_{01z} } \\ {F_{12x} } \\ {F_{12y} } \\ {F_{12z} } \\ {M_{d1x} } \\ {M_{d1y} } \\ {M_{d1z} } \\ {F_{23x} } \\ {F_{23y} } \\ {F_{23z} } \\ {F_{34x} } \\ {F_{34y} } \\ {F_{34z} } \\ {F_{40x} } \\ {F_{40y} } \\ {F_{40z} } \\ {M_{d4x} } \\ {M_{d4y} } \\ {M_{d4z} } \\ \end{array} } \right]\,\,{\mathbf{B}} = \left[ {\begin{array}{*{20}c} { - G_{1x} - F_{I1x} } \\ { - G_{1y} - F_{I1y} } \\ { - G_{1Z} - F_{I1Z} } \\ { - M_{I1x} } \\ { - M_{I1y} } \\ { - M_{I1z} } \\ { - G_{2x} - F_{2x} - F_{I2x} } \\ { - G_{2y} - F_{2y} - F_{I2y} } \\ { - G_{2z} - F_{2z} - F_{I2z} } \\ { - M_{2x} - M_{I2x} } \\ { - M_{2y} - M_{I2y} } \\ { - M_{2z} - M_{I2z} } \\ { - G_{3x} - F_{3x} - F_{I3x} } \\ { - G_{3y} - F_{3y} - F_{I3y} } \\ { - G_{3z} - F_{3z} - F_{I3z} } \\ { - G_{4x} - F_{4x} - F_{I4x} } \\ { - G_{4y} - F_{4y} - F_{I4y} } \\ { - G_{4z} - F_{4z} - F_{I4z} } \\ { - M_{4x} - M_{I4x} } \\ { - M_{4y} - M_{I4y} } \\ { - M_{4z} - M_{I4z} } \\ \end{array} } \right]$$
$$A = \left[ {\begin{array}{*{21}c} {1} &{0} & {0} & { - 1} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} \\ {0} & {1} & {0} & {0} & { - 1} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} \\ {0} & {0} & {1} & {0} & {0} & { - 1} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} \\ {0} & {p_{1z} } & { - p_{1y} } & {0} & { - q_{1z} } & {q_{1y} } & {1} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} \\ { - p_{1z} } & {0} & {p_{1x} } & {q_{1z} } & {0} & { - q_{1x} } & {0} & {1} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} \\ {p_{1y} } & { - p_{1x} } & {0} & { - q_{1y} } & {q_{1x} } & {0} & {0} & {0} & {1} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} \\ {0} & {0} & {0} & {1} & {0} & {0} & {0} & {0} & {0} & { - 1} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} \\ {0} & {0} & {0} & {0} & {1} & {0} & {0} & {0} & {0} & {0} & { - 1} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} \\ {0} & {0} & {0} & {0} & {0} & {1} & {0} & {0} & {0} & {0} & {0} & { - 1} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} \\ {0} & {0} & {0} & {0} & {p_{2z} } & { - p_{2y} } & {0} & {0} & {0} & {0} & { - q_{2z} } & {q_{2y} } & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} \\ {0} & {0} & {0} & { - p_{2z} } & {0} & {p_{2x} } & {0} & {0} & {0} & {q_{2z} } & {0} & { - q_{2x} } & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} \\ {0} & {0} & {0} & {p_{2y} } & { - p_{2x} } & {0} & {0} & {0} & {0} & { - q_{2y} } & {q_{2x} } & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} \\ {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {1} & {0} & {0} & { - 1} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} \\ {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {1} & {0} & {0} & { - 1} & {0} & {0} & {0} & {0} & {0} & {0} & {0} \\ {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {1} & {0} & {0} & { - 1} & {0} & {0} & {0} & {0} & {0} & {0} \\ {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {1} & {0} & {0} & { - 1} & {0} & {0} & {0} & {0} & {0} \\ {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {1} & {0} & {0} & { - 1} & {0} & {0} & {0} & {0} \\ {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {1} & {0} & {0} & { - 1} & {0} & {0} & {0} \\ {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {p_{4z} } & { - p_{4y} } & {0} & { - q_{4z} } & {q_{4y} } & {1} & {0} & {0} \\ {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & { - p_{4z} } & {0} & {p_{4x} } & {q_{4z} } & {0} & { - q_{4x} } & {0} & {1} & {0} \\ {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {0} & {p_{4y} } & { - p_{4x} } & {0} & { - q_{4y} } & {q_{4x} } & {0} & {0} & {0} & {1} \\ \end{array} } \right]$$

Rights and permissions

Reprints and permissions

Copyright information

© 2016 Springer International Publishing Switzerland

About this paper

Cite this paper

Zhang, C., Dai, J.S. (2016). Inverse Kinematics and Kineto-Statics of Metamorphic Palm of the KCL/TJU Metamorphic Hand. In: Ding, X., Kong, X., Dai, J. (eds) Advances in Reconfigurable Mechanisms and Robots II. Mechanisms and Machine Science, vol 36. Springer, Cham. https://doi.org/10.1007/978-3-319-23327-7_12

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-23327-7_12

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-23326-0

  • Online ISBN: 978-3-319-23327-7

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation