Design and analysis of a Brucard-inspired dexterous hand based on generalized parallel mechanisms

Abstract

This paper proposes a novel generalized parallel dexterous hand with the aim of enhancing dexterity and stability. First, by using topological synthesis and number synthesis methods, an analysis is conducted on the degrees of freedom (DOF), number of loops, and link combinations of the topological structures of the dexterous hand. This analysis helps to identify effective non-isomorphic Contracted Graphs (CGs). Then, the configuration of a multi-mode deployable dexterous hand is designed based on the threefold-symmetric Bricard mechanism. A reconfigurable base is incorporated into this design to enhance the adaptability of the dexterous hand. Additionally, Lie group theory is employed to analyze the motion modes of the dexterous hand. Through simulation analysis, the grasping and motion performance under different motion modes are evaluated. Moreover, the forward and inverse kinematics of the dexterous hand are analyzed. Coordinate transformation methods are used to reduce the computational complexity. Finally, the workspace and motion force transmission performance of the dexterous hand are evaluated through simulation analysis.