Structural Synthesis of Hands for Grasping and Manipulation Tasks
In the kinematic synthesis of multi-fingered robotic hands for a specific task, the selection of the hand topology is an important step. Considerable research efforts have been directed to the structural synthesis of hand topologies for satisfying grasping and manipulation metrics such as mobility and force closure. In this work, we develop a structural synthesis, isomorphism-free enumeration method that combines the solvability for rigid-body guidance with the grasping and manipulation metrics, for general hands with a tree structure. An algorithmic implementation of the methodology is presented and illustrated with validation examples.
KeywordsMulti-fingered robotic hands Dexterous grasping Structural synthesis Spatial dimensional synthesis
The first and second authors’ work is supported by the National Science Foundation under Grant No. 1208385. The content is solely the authors’ responsibility. The third author acknowledges to Argentinean projects, CONICET PIP 2011-01105, ANPCyT PICT 2013-2894, and UTN PID 3935.