A Novel Reconfigurable Dexterous Hand Based on Triple-Symmetric Bricard Parallel Mechanism

TL;DR

This paper presents a reconfigurable robotic hand design utilizing a triple-symmetric Bricard linkage, enhancing adaptability, dexterity, and stability for versatile object manipulation.

Contribution

It introduces a novel reconfigurable palm mechanism based on Bricard linkages, with comprehensive kinematic analysis and experimental validation of grasping capabilities.

Findings

Enhanced grasping versatility demonstrated in experiments

Improved workspace and motion transmission efficiency

Prototype shows stable and precise manipulation

Abstract

This paper introduces a novel design for a robotic hand based on parallel mechanisms. The proposed hand uses a triple-symmetric Bricard linkage as its reconfigurable palm, enhancing adaptability to objects of varying shapes and sizes. Through topological and dimensional synthesis, the mechanism achieves a well-balanced degree of freedom and link configuration suitable for reconfigurable palm motion, balancing dexterity, stability, and load capacity. Furthermore, kinematic analysis is performed using screw theory and closed-loop constraints, and performance is evaluated based on workspace, stiffness, and motion/force transmission efficiency. Finally, a prototype is developed and tested through a series of grasping experiments, demonstrating the ability to perform stable and efficient manipulation across a wide range of objects. The results validate the effectiveness of the design in improving grasping versatility and operational precision, offering a promising solution for advanced robotic manipulation tasks.