Fuqun Zhao, Xiaodong Jin, Mukun Wu, Sheng Guo, and Yuefa Fang
Parallel dexterous hand, five-bar linkage, kinematics, performance analysis, grasping experiment
To improve the carrying and accuracy performance of dexterous hand in high-speed grasping, a novel parallel dexterous hand is proposed in this paper. First, the decoupling kinematics analysis is carried out. Based on the link constraint equation, the input–output velocity relation and Jacobian matrix are obtained. The effects of the clamping width and the orientation angle of the end-effector on the workspace are studied. Dexterity performance and static stiffness of the parallel dexterous hand are evaluated based on the Jacobian matrix. To verify the ability of the dexterous hand to achieve the grasping task, the simulation research of continuous grasping planning is carried out by taking the common circular trajectory used in industry. At last, prototype experiments, including grasping, load capacity, and positioning accuracy experiments, are researched. The results verify the feasibility of this design and the grasping ability of the parallel dexterous hand.
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