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Kinematics Analysis and Control of a Three-Fingered Metamorphic Robot Hand

[+] Author Affiliations
Matteo Calzati

King’s College London, London, UKAlma Mater Studiorum Università di Bologna, Bologna, Italy

Ketao Zhang, Jian S. Dai

King’s College London, London, UK

Vincenzo Parenti Castelli

Alma Mater Studiorum Università di Bologna, Bologna, Italy

Paper No. DETC2016-59491, pp. V05BT07A053; 10 pages
  • ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5B: 40th Mechanisms and Robotics Conference
  • Charlotte, North Carolina, USA, August 21–24, 2016
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5016-9
  • Copyright © 2016 by ASME


This paper presents the kinematics analysis of a three-fingered metamorphic hand (Metahand) and the LabView based control system of the robotic hand. In this study, the structure of the Metahand composed of an articulated palm and three fingers is introduced first. With the design parameters of the hybrid structure of the Metahand, analytical modeling of both forward and inverse kinematics is revealed, leading to reachable workspace and trajectory of all three fingertips. In particular, the analytical modeling of inverse kinematics is further verified by a numeric method. Following the theoretical investigation, a complete prototype with integrated servomotors and electric circuit for control system are produced. Further, a control system with LabView software is developed to realize the kinematics based control algorithm. A number of grasping tests are implemented to demonstrate the dexterity of the three-fingered Metahand.

Copyright © 2016 by ASME



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