With a new type of multifingered hands that raise a new philosophy in the construction and study of a multifingered hand, this paper is a follow-on study of the kinematics of the metamorphic multifingered hand based on finger constraint equations. The finger constraint equations lead to a comprehensive mathematical model of the hand with a reconfigurable palm which integrates all finger motions with the additional palm motion. Singular values of the partitioned Jacobian matrix in their analytical form are derived and applied to obtaining analytical solution to inverse kinematics of a complete robotic hand. The paper for the first time solves this integrated motion and the multifingered hand model with the singular value decomposition and extra degrees of freedom are examined with the singular value analysis to avoid the singularities. The work identifies finger displacement and velocity with effect from the articulated palm and presents a new way of analyzing a multifingered robotic hand.
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e-mail: leicui@cmu.edu
e-mail: jian.dai@kcl.ac.uk
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August 2012
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Reciprocity-Based Singular Value Decomposition for Inverse Kinematic Analysis of the Metamorphic Multifingered Hand
Lei Cui,
Lei Cui
Postdoctoral Fellow
King’s College London, University of London, Strand, London WC2R 2LS UK;
e-mail: leicui@cmu.edu
The Robotics Instute Carnegie Mellon University
5000 Forbes Avenue, Pittsburgh, PA 15213, USA
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Jian S. Dai
Jian S. Dai
Chair of Mechanisms and Robotics, Centre for Advanced Mechanisms and Robotics, Tianjin University, Tianjin; Centre for Robotics Research, King’s College London,
e-mail: jian.dai@kcl.ac.uk
University of London
, Strand, London WC2R 2LS UK
Search for other works by this author on:
Lei Cui
Postdoctoral Fellow
King’s College London, University of London, Strand, London WC2R 2LS UK;
The Robotics Instute Carnegie Mellon University
5000 Forbes Avenue, Pittsburgh, PA 15213, USA
e-mail: leicui@cmu.edu
Jian S. Dai
Chair of Mechanisms and Robotics, Centre for Advanced Mechanisms and Robotics, Tianjin University, Tianjin; Centre for Robotics Research, King’s College London,
University of London
, Strand, London WC2R 2LS UK
e-mail: jian.dai@kcl.ac.uk
J. Mechanisms Robotics. Aug 2012, 4(3): 034502 (6 pages)
Published Online: July 3, 2012
Article history
Received:
April 21, 2010
Revised:
December 29, 2011
Online:
July 3, 2012
Published:
July 3, 2012
Citation
Cui, L., and Dai, J. S. (July 3, 2012). "Reciprocity-Based Singular Value Decomposition for Inverse Kinematic Analysis of the Metamorphic Multifingered Hand." ASME. J. Mechanisms Robotics. August 2012; 4(3): 034502. https://doi.org/10.1115/1.4006187
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