Coordinating Role Theory Research Of A Hybrid Hand With Three Fingers Which Is Made Up Of5-DOF Parallel Manipulator

Limited-DOF parallel manipulator has a broad application prospects, and graduallybecome the hot spot of research within the field of parallel manipulator. Compared withconventional end effector, the multifingered hands which has a lot of advantages, like ahighly flexibility, easily to adjust the position and orientation, grasping diversificationand so on. In recent years, the multifingered of robot has become an important field ofthe robotics research.Combined with the research need and the actual applied to determine the mainseries configuration which is the series and parallel institution. Three fingers of one-DOFwere arranged in the parallel manipulator’s moving platform of the4SPS+SPR.Containing three fingers of4SPS+SPR parallel manipulator as an example to analyzedthe reference point on the fingers’ forward position, fingers and parallel manipulator’sworkingspace, kinematics, statics, dynamics and coordinated of movement.According to the structural characteristics of the parallel manipulator, the inversedisplacement of the parallel manipulator and the forward displacement of the fingers wasderived by the vector method.4SPS+SPR parallel manipulator has three rotational DoFsand two translational DoF(3R2T), the4SPS+SPR parallel manipulator and fingersinstitutions’ workspace is obtained using CAD variable geometry. Combined with therelationship of movement between the fingers institutions and parallel manipulator, thereference point’s velocity/acceleration models were built.Contacted external loads on the fingertip with moving parts’ motion, the inertialforce/torque, driving force of the driving member to established dynamics model whichis a combination of a force/torque and position, velocity, acceleration. According to theprinciple of virtual work,4SPS+SPR parallel manipulator with three fingers’ the staticsand dynamics model can be established.In the example of the three-finger grasping an object, coordinated kinematics of thefingers institutions and4SPS+SPR parallel manipulator, the stability of the objects during the grasp process, the contact force between the fingers institutions and4SPS+SPR parallel manipulator which is systematically analyzed in the process of thegrasp and manipulate.