Design and analysis of a novel large-span two-fold deployable mechanism

Current research on robotic dexterous hands mainly focuses on designing new finger and palm structures, as well as developing smarter control algorithms. Although the dimensional synthesis of dexterous hands with traditional rigid palms has been carried out, research on the dimensional synthesis of dexterous hands with metamorphic palms remains insufficient. This study investigated the dimensional synthesis of a palm of a novel metamorphic multi-fingered hand, and explored the geometric design for maximizing the precision manipulation workspace. Different indexes were used to value the workspace of the metamorphic hand, and the best proportions between the five links of the palm to obtain the optimal workspace of the metamorphic hand were explored. Based on the fixed total length of the palm member, four nondimensional design parameters that determine the size of the palm were introduced; through the discretization method, the influence of the four design parameters on the workspace of the metamorphic hand with full-actuated fingers and under-actuated fingers was analyzed. Based on the analysis of the metamorphic multi-fingered hand, the symmetrical structure of the palm was designed, resulting in the largest workspace of the multi-fingered hand, and proved that the metamorphic palm has a massive upgrade for the workspace of underactuated fingers. This research contributed to the dimensional synthesis of metamorphic dexterous hands, with practical significance for the design and optimization of novel metamorphic hands.

/pdf/geometric-design-based-dimensional-synthesis-of-a-novel-1ur9mom2q3.pdf

Geometric Design-based Dimensional Synthesis of a Novel Metamorphic Multi-fingered Hand with Maximal Workspace

Design of thick panels origami-inspired flexible grasper with anti-interference ability

A 0.5-meter-scale, high-load, soft-enclosed gripper capable of grasping the human body

/pdf/strengthening-effect-of-flooding-in-3d-printed-porous-soft-2x1zgf36ic.pdf

Strengthening effect of flooding in 3d printed porous soft robotics scaffolds

Design of a novel simulated “soft” mechanical grasper


 In this study, a coupled multi-knuckle mechanical finger was designed. The finger is composed of same-structured knuckles in a connecting link structure, and the knuckles can be combined arbitrarily. The coupling motion is completed under the drive of a single actuator. First, the influences of the angular relationship between the knuckles and working stroke of the knuckles on the actual grasping range of the finger were evaluated, and the kinematic analysis of the knuckle was performed using the closed-loop vector method. Next, an optimisation design method based on a genetic algorithm was proposed, which considered the angular relationship as the objective function to optimise the knuckle, which is illustrated with an example. The angle between each pair of knuckles is approximately constant and equal, which indicates that the finger has an approximately circular envelope curve. Subsequently, the finger motion simulation was carried out to verify the optimisation design results and evaluate the error in the finger grasping process. Finally, the prototype of the manipulator was constructed according to the parameters obtained in the optimisation design example. The feasibility of the design was verified through a grasping experiment using beakers and other objects. It provides a reference for angle optimization and envelope curve design of gripper.

Design and analysis of a multi-knuckle coupled grasper with equal angles at each knuckle during motion

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Design of a novel simulated “soft” mechanical grasper

Design and analysis of a multi-knuckle coupled grasper with equal angles at each knuckle during motion