Design of a Compact Anthropomorphic Robotic Hand with Hybrid Linkage and Direct Actuation

Zechen Hu; Chunyang Zhou; Jinjian Li; Quan Hu

doi:10.1007/978-981-99-6492-5_28

Design of a Compact Anthropomorphic Robotic Hand with Hybrid Linkage and Direct Actuation

Zechen Hu, Chunyang Zhou, Jinjian Li, Quan Hu^*

^*Corresponding author for this work

School of Aerospace Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper presents a newly developed small-sized, dexterous hand with multiple degrees of freedom (DOFs). With five fingers and a total of thirteen active degrees of freedom, this hand is comparable in size to an adult male’s hand. High-performance motors are installed in each finger, along with a combination of linkages and bevel gear mechanisms to ensure flexibility and high load capacity. The design of flexible linkages enhances the adaptive capability during grasping processes. The transmission mechanisms were analyzed to derive the inverse kinematic relationship between motor motion and finger joint motion. In addition, the DH parameters and four-bar linkage kinematics were utilized to calculate the workspace of the dexterous hand. Based on theoretical analysis of the workspace, it has been demonstrated that the dexterous hand has the ability to perform diverse tasks including object grasping and manipulation.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings
Editors	Huayong Yang, Honghai Liu, Jun Zou, Zhouping Yin, Lianqing Liu, Geng Yang, Xiaoping Ouyang, Zhiyong Wang
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	322-332
Number of pages	11
ISBN (Print)	9789819964918
DOIs	https://doi.org/10.1007/978-981-99-6492-5_28
Publication status	Published - 2023
Event	16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 - Hangzhou, China Duration: 5 Jul 2023 → 7 Jul 2023

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	14270 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	16th International Conference on Intelligent Robotics and Applications, ICIRA 2023
Country/Territory	China
City	Hangzhou
Period	5/07/23 → 7/07/23

Keywords

Compact transmission
Multiple degrees of freedom
Robotic hand

Access to Document

10.1007/978-981-99-6492-5_28

Cite this

Hu, Z., Zhou, C., Li, J., & Hu, Q. (2023). Design of a Compact Anthropomorphic Robotic Hand with Hybrid Linkage and Direct Actuation. In H. Yang, H. Liu, J. Zou, Z. Yin, L. Liu, G. Yang, X. Ouyang, & Z. Wang (Eds.), Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings (pp. 322-332). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 14270 LNAI). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-99-6492-5_28

Hu, Zechen ; Zhou, Chunyang ; Li, Jinjian et al. / Design of a Compact Anthropomorphic Robotic Hand with Hybrid Linkage and Direct Actuation. Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. editor / Huayong Yang ; Honghai Liu ; Jun Zou ; Zhouping Yin ; Lianqing Liu ; Geng Yang ; Xiaoping Ouyang ; Zhiyong Wang. Springer Science and Business Media Deutschland GmbH, 2023. pp. 322-332 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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abstract = "This paper presents a newly developed small-sized, dexterous hand with multiple degrees of freedom (DOFs). With five fingers and a total of thirteen active degrees of freedom, this hand is comparable in size to an adult male{\textquoteright}s hand. High-performance motors are installed in each finger, along with a combination of linkages and bevel gear mechanisms to ensure flexibility and high load capacity. The design of flexible linkages enhances the adaptive capability during grasping processes. The transmission mechanisms were analyzed to derive the inverse kinematic relationship between motor motion and finger joint motion. In addition, the DH parameters and four-bar linkage kinematics were utilized to calculate the workspace of the dexterous hand. Based on theoretical analysis of the workspace, it has been demonstrated that the dexterous hand has the ability to perform diverse tasks including object grasping and manipulation.",

keywords = "Compact transmission, Multiple degrees of freedom, Robotic hand",

author = "Zechen Hu and Chunyang Zhou and Jinjian Li and Quan Hu",

note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.; 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 ; Conference date: 05-07-2023 Through 07-07-2023",

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editor = "Huayong Yang and Honghai Liu and Jun Zou and Zhouping Yin and Lianqing Liu and Geng Yang and Xiaoping Ouyang and Zhiyong Wang",

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Hu, Z, Zhou, C, Li, J & Hu, Q 2023, Design of a Compact Anthropomorphic Robotic Hand with Hybrid Linkage and Direct Actuation. in H Yang, H Liu, J Zou, Z Yin, L Liu, G Yang, X Ouyang & Z Wang (eds), Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 14270 LNAI, Springer Science and Business Media Deutschland GmbH, pp. 322-332, 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023, Hangzhou, China, 5/07/23. https://doi.org/10.1007/978-981-99-6492-5_28

Design of a Compact Anthropomorphic Robotic Hand with Hybrid Linkage and Direct Actuation. / Hu, Zechen; Zhou, Chunyang; Li, Jinjian et al.
Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. ed. / Huayong Yang; Honghai Liu; Jun Zou; Zhouping Yin; Lianqing Liu; Geng Yang; Xiaoping Ouyang; Zhiyong Wang. Springer Science and Business Media Deutschland GmbH, 2023. p. 322-332 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 14270 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Design of a Compact Anthropomorphic Robotic Hand with Hybrid Linkage and Direct Actuation

AU - Hu, Zechen

AU - Zhou, Chunyang

AU - Li, Jinjian

AU - Hu, Quan

N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2023.

PY - 2023

Y1 - 2023

N2 - This paper presents a newly developed small-sized, dexterous hand with multiple degrees of freedom (DOFs). With five fingers and a total of thirteen active degrees of freedom, this hand is comparable in size to an adult male’s hand. High-performance motors are installed in each finger, along with a combination of linkages and bevel gear mechanisms to ensure flexibility and high load capacity. The design of flexible linkages enhances the adaptive capability during grasping processes. The transmission mechanisms were analyzed to derive the inverse kinematic relationship between motor motion and finger joint motion. In addition, the DH parameters and four-bar linkage kinematics were utilized to calculate the workspace of the dexterous hand. Based on theoretical analysis of the workspace, it has been demonstrated that the dexterous hand has the ability to perform diverse tasks including object grasping and manipulation.

AB - This paper presents a newly developed small-sized, dexterous hand with multiple degrees of freedom (DOFs). With five fingers and a total of thirteen active degrees of freedom, this hand is comparable in size to an adult male’s hand. High-performance motors are installed in each finger, along with a combination of linkages and bevel gear mechanisms to ensure flexibility and high load capacity. The design of flexible linkages enhances the adaptive capability during grasping processes. The transmission mechanisms were analyzed to derive the inverse kinematic relationship between motor motion and finger joint motion. In addition, the DH parameters and four-bar linkage kinematics were utilized to calculate the workspace of the dexterous hand. Based on theoretical analysis of the workspace, it has been demonstrated that the dexterous hand has the ability to perform diverse tasks including object grasping and manipulation.

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T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

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BT - Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings

A2 - Yang, Huayong

A2 - Liu, Honghai

A2 - Zou, Jun

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A2 - Liu, Lianqing

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A2 - Ouyang, Xiaoping

A2 - Wang, Zhiyong

PB - Springer Science and Business Media Deutschland GmbH

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Y2 - 5 July 2023 through 7 July 2023

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Hu Z, Zhou C, Li J, Hu Q. Design of a Compact Anthropomorphic Robotic Hand with Hybrid Linkage and Direct Actuation. In Yang H, Liu H, Zou J, Yin Z, Liu L, Yang G, Ouyang X, Wang Z, editors, Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. Springer Science and Business Media Deutschland GmbH. 2023. p. 322-332. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-981-99-6492-5_28