A Metamorphic Hand with Coplanar Reconfiguration

This paper presents a newly designed metamorphic hand with a planar reconfigurable and flexible palm, which allows the position and orientation of fingers to be rearranged, making the hand more dexterous and adaptable. To reveal the influence of the reconfigurable palm, forward kinematics model of the Metamorphic hand is established, followed by analysis of the palm workspace. To investigate influence of the palm workspace, this paper introduces the operation-plane normal to represent orientations of the fingers and presents a workspace triangle to represent the extent of palm reconfiguration. Accordingly, the ruled surface and area of workspace triangle are introduced, revealing the beneficial effects of the palm on workspace enlargement. Further, variation of the hand pose and property of manipulation are enhanced by the metamorphic palm. This paper compares the manipulability index between the metamorphic hand and the fastened-palm hand to reveal superiority of the reconfigurable palm. Meanwhile, manipulability under different configurations of the metamorphic palm is compared emphatically, presenting the dexterity variation of this hand.

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