Show simple item record

dc.contributor.authorCui, Lei
dc.contributor.authorDai, J.
dc.date.accessioned2017-01-30T11:07:46Z
dc.date.available2017-01-30T11:07:46Z
dc.date.created2012-11-26T20:00:22Z
dc.date.issued2012
dc.date.submitted2013-01-07
dc.identifier.citationCui, Lei and Dai, Jian S. 2012. Reciprocity-based singular value decomposition for inverse kinematic analysis of the metamorphic multifingered hand. Journal of Mechanisms and Robotics. 4 (3): 034502 (6 pp.).
dc.identifier.urihttp://hdl.handle.net/20.500.11937/8621
dc.identifier.doi10.1115/1.4006187
dc.description.abstract

With a new type of multifingered hand that raises a new philosophy in the construction and study of a multifingered hand, this paper is a follow-on study of the kinematics of the metamorphic multifingered hand based on finger constraint equations. The finger constraint equations lead to a comprehensive mathematical model of the hand with a reconfigurable palm which integrates all finger motions with the additional palm motion. Singular values of the partitioned Jacobian matrix in their analytical form are derived and applied to obtaining analytical solution to inverse kinematics of a complete robotic hand. The paper for the first time solves this integrated motion and the multifingered hand model with the singular value decomposition and extra degrees of freedom are examined with the singular value analysis to avoid the singularities. The work identifies finger displacement and velocity with effect from the articulated palm and presents a new way of analyzing a multifingered robotic hand.

dc.publisherASME Press
dc.titleReciprocity-based singular value decomposition for inverse kinematic analysis of the metamorphic multifingered hand
dc.typeJournal Article
dcterms.dateSubmitted2012-11-27
dcterms.source.volume4
dcterms.source.number3
dcterms.source.startPage034502_1
dcterms.source.endPage034502_6
dcterms.source.issn1942-4302
dcterms.source.titleASME Journal of Mechanisms and Robotics
curtin.digitool.pid188027
curtin.pubStatusPublished
curtin.department
curtin.identifier.scriptidPUB-SE-DME-LC-70149
curtin.accessStatusFulltext not available


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record