Kinematic chains for robot hands—II. Kinematic constraints, classification, connectivity, and actuation

Kinematic synthesis using tree topologies

“…Tree articulated systems and their graph representation are also studied in [30] for the analysis and control of mechanical systems, where they are named forking linkages. Tischler et al [31,32] apply graph theory for the structural synthesis of kinematic chains with applications to robot hands. However, no applications or methodology exist, to the knowledge of the authors, for the dimensional synthesis of articulated systems with a tree structure.…”

Gross Motion Analysis of Fingertip-Based Within-Hand Manipulation

“…In this work, we further extend that framework by modeling the effects of a fingertip contacting a body as kinematic chains using an extension of the Bruyninckx-Hunt approach of surface-surface contact [14], what allows using all standard contact categories of robotic manipulation (e.g., point contact with friction, soft finger) as well as other contact models, such as ball, tubular, and frictional adaptive finger contacts. Moreover, the proposed technique extends the standard notion of finite (gross) kinematic manipulation, which has been historically restricted to the mobility analysis of multi-finger grasps [15][16][17]. The identification of the uncontrollable displacements of a grasped object as herein suggested is relevant for the implementation of robotic dexterous tasks because it naturally leads to modifications in the design of the robot hand under study (fingers, fingertips, and palm layout) or its control scheme in order to avoid the resulting undesirable circumstances.…”

“…5(right[b])]. To obtain a graph with a single couple of kinematic constraints, we apply parallel reduction to, for instance, the kinematic constraints and (equations (14) and (16)), and and (equations (15) and (17)). For and , we have…”

“…These kinds of tasks can be This work was supported in part by the National Science Foundation grants IIS-1317976 and IIS-0952856. A preliminary version of some parts of this paper was presented at the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, September [14][15][16][17][18]2014 classified as within-hand prehensile manipulation with no motion at contact via the manipulation taxonomy presented in [1]. More specifically, we say herein that this type of dexterous manipulation task is performed without modifications in the assumed contact model between each fingertip and the object, and refer to it as precision manipulation ( Fig.…”

On Crossley's contribution to the development of graph based algorithms for the analysis of mechanisms and gear trains

“…In 1968 Manolescu [70] adopted this formula for mobility and kinematic analysis and so, later on, Topology, Mobility and Connectivity of a kinematic chain were also investigated by using the concept of a set of fundamental circuits (see for example Ref. [71][72][73][74][75][76][77][78][79][80][81][82][83][84][85][86][87]). …”