Special configurations of multi-finger multifreedom grippers - a kinematic study

Hunt, K. H., Samuel, A. E. and McAree, P. R. (1991) Special configurations of multi-finger multifreedom grippers - a kinematic study. International Journal of Robotics Research, 10 2: 123-134. doi:10.1177/027836499101000204

Author Hunt, K. H.
Samuel, A. E.
McAree, P. R.
Title Special configurations of multi-finger multifreedom grippers - a kinematic study
Journal name International Journal of Robotics Research   Check publisher's open access policy
ISSN 0278-3649
Publication date 1991-04
Sub-type Article (original research)
DOI 10.1177/027836499101000204
Volume 10
Issue 2
Start page 123
End page 134
Total pages 12
Place of publication London, United Kingdom
Publisher Sage Publications
Language eng
Abstract Screw theory is used to establish the general kinematic prin ciples offully-in-series and fully-in-parallel devices. Through screw theory, we show that a workpiece grasped by a fully-in- series manipulator can only lose freedom while a workpiece grasped by a fully-in-parallel manipulator can only gain freedom. Multi-finger multi-freedom grippers or robot hands use a mixture of in-parallel and serial actuation, and so a workpiece grasped by such a device can both gain and lose freedom. These linkages belong to a class called composite serial/in-parallel manipulators. Using the well-established concepts of screw systems and reciprocity, we identify the general criteria that govern the gain and loss of workpiece freedoms. We illustrate how these gains and losses of work piece freedom arise, by considering the Stanford/JPL hand.
Keyword Manipulator
Q-Index Code C1
Q-Index Status Provisional Code
Institutional Status Non-UQ

Document type: Journal Article
Sub-type: Article (original research)
Collection: School of Mechanical & Mining Engineering Publications
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Citation counts: TR Web of Science Citation Count  Cited 29 times in Thomson Reuters Web of Science Article | Citations
Scopus Citation Count Cited 31 times in Scopus Article | Citations
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Created: Sat, 31 Aug 2013, 10:22:40 EST by Professor Ross Mcaree on behalf of School of Mechanical and Mining Engineering