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A Study on Dexterous Grasps via Parallel Manipulation Analogy

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Abstract

This paper proposes a new approach for studying the dexterous grasping mechanisms via parallel manipulation analogy. The approach exploits the theories already developed for the dexterous robotic hands and the parallel manipulators. It also proposes an innovative conceptual design algorithm for dexterous grasping mechanisms with desired “dexterity” characteristics: mobility, connectivity, overconstraint, and redundancy. The provided quick mobility calculation formula is valid for all the grasping mechanisms whereas the other quick mobility calculation formulas are not. The proposed conceptual design algorithm is supported by example syntheses of a 3 dof translational motion dexterous grasping mechanism, a 3 dof (2 translational and 1 rotational) planar motion dexterous grasping mechanism and a 6 dof (3 translational and 3 rotational) spatial motion dexterous grasping mechanism.

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Authors and Affiliations

  1. SIGMA’Clermont - Institut Pascal, Clermont Ferrand, France

    Erol Özgür, Grigore Gogu & Youcef Mezouar

Authors
  1. Erol Özgür
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  2. Grigore Gogu
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  3. Youcef Mezouar
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Correspondence to Youcef Mezouar.

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Özgür, E., Gogu, G. & Mezouar, Y. A Study on Dexterous Grasps via Parallel Manipulation Analogy. J Intell Robot Syst 87, 3–14 (2017). https://doi.org/10.1007/s10846-017-0481-1

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  • DOI: https://doi.org/10.1007/s10846-017-0481-1

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