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    Singular-Value Decomposition Based Kinematic Analysis of the Metamorphic Multifingered Hand

    Access Status
    Fulltext not available
    Authors
    Cui, Lei
    Dai, J.
    Date
    2010
    Type
    Conference Paper
    
    Metadata
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    Citation
    Cui, Lei and Dai, Jian S. 2010. Singular-Value Decomposition Based Kinematic Analysis of the Metamorphic Multifingered Hand, in Larochelle, P. (ed), ASME 2010 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), Aug 15-18 2010. Montreal, Canada: ASME Press.
    Source Title
    Proceedings of the ASME 2010 International Design Engineering Technical Conferences
    Source Conference
    ASME 2010 International Design Engineering Technical Conferences (IDETC)
    DOI
    10.1115/DETC2010-28653
    URI
    http://hdl.handle.net/20.500.11937/19603
    Collection
    • Curtin Research Publications
    Abstract

    This paper investigates kinematics of the metamorphic multifingered robotic hand based on screw system analysis and singular value decomposition. The paper integrates the singular value decomposition with screw system and generates the reciprocity-based Jacobian matrices of a multifingered hand. This leads to the geometric constraint equation of the articulated palm as the typical feature of this robotic hand and to the kinematics characteristics equation of the hand. Symbolic singular values of the sub-matrices are derived and applied to obtaining analytical solution to inverse kinematics. The singular value decomposition helps identifying finger displacement and velocity with effect from the articulated palm and extra degrees of freedom are examined with the singular value analysis to avoid the singularities.

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