Skip to main content
Log in

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.

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

Access this article

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

References

  1. Borras-Sol, J., Dollar, A.M.: Analyzing Dexterous Hands using a Parallel Robots Framework, Autonomous Robots. Special Issue on Modern Approaches for Dexterous Manipulation 26(1-2), 169–180 (2014)

    Google Scholar 

  2. Salisbury, J.K.: Kinematic and Force Analysis of Articulated Hands, PhD Thesis, Mechanical Engineering, Stanford University (1982)

  3. Salisbury, J.K., Roth, B.: Kinematic and Force Analysis of Articulated Mechanical Hands. ASME Journal of Mechanism Transmission and Automatic Design 105(1), 35–41 (1983)

    Article  Google Scholar 

  4. Tischler, C.R., Samuel, A.E., Hunt, K.H.: Kinematic Chains for Robot Hands - I, Orderly Number-Synthesis. Mech. Mach. Theory 30(8), 1193–1215 (1995)

    Article  Google Scholar 

  5. Tischler, C.R., Samuel, A.E., Hunt, K.H.: Kinematic Chains for Robot Hands - II, Kinematic Constraints, Classification, Connectivity, and Actuation. Mech. Mach. Theory 30(8), 1217–1239 (1995)

    Article  Google Scholar 

  6. Lee, J.J., Tsai, L.W.: Structural Synhtesis of Multi-fingered Hands. J. Mech. Des. 124, 272–276 (2002)

    Article  Google Scholar 

  7. Freudenstein, F.: The basic concepts of Polya’s theory of enumeration, with application to the structural classification of mechanisms. J. Mech. 3, 275–290 (1967)

  8. Gogu, G.: Structural Synthesis of Parallel Robots - Part 1: Methodology. Springer (2008)

  9. Ozgur, E., Gogu, G., Mezouar, Y.: Structural Synthesis of Dexterous Hands IEEE/RSJ Int Conference on Intelligent Robots and Systems (2014)

  10. Laksminarayana, K.: Mechanics of from closure ASME paper 78-DET-32 (1978)

  11. Nguyen, V.D.: Constructing froce-closure grasps. Int. J. Robot. Res. 7(3), 3–16 (1988)

    Article  Google Scholar 

  12. Reuleaux, F.: The Kinematics of Machinery, London: Macmillan, 1876 and New York: Dover, (translated by A.B.W Kennedy) (1963)

  13. Somov, P.: Über Schraubengeschwindigkeiten eines festen Körpers beiverschiedener Zahl von Stützflachen. Z. Angew. Math. Phys. 42(161–182), 133–153 (1897)

    Google Scholar 

  14. Chebychev, P.A.: Théorie des mécanismes connus sous le nom de parallélogrammes, 2ème, partie Mémoires présentés à l’Académie impériale des sciences de Saint-Pétersbourg par divers savants (1896)

  15. Grübler, M.: Getriebelehre: Eine Theorie des Zwanglaufes und der ebenen Mechanismen. Springer, Berlin (1917)

    Book  MATH  Google Scholar 

  16. Kutzbach, K.: Mechanische Leitungsverzweigung, ihre Gesetze und Anwendungen. Maschinenbau Betrieb 8, 710–716 (1929)

    Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Youcef Mezouar.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

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

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

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

Keywords

Navigation