一种基于三对称布拉克平行机构的新型可重构灵巧手
A Novel Reconfigurable Dexterous Hand Based on Triple-Symmetric Bricard Parallel Mechanism
AI总结：
本文提出了一种基于三对称布拉克平行机构的新型可重构灵巧手，通过拓扑和尺寸综合优化自由度和连杆配置，提升抓取多样性和操作精度。
摘要：
本文介绍了一种基于并联机构的新型机器人手的设计。所提出的手使用三对称布拉克机构作为可重构手掌，增强了对不同形状和大小物体的适应性。通过拓扑和尺寸综合，该机构实现了适合作为可重构手掌运动的良好的自由度和连杆配置，平衡了灵巧性、稳定性和载荷能力。此外，利用螺旋理论和闭环约束进行运动学分析，并基于工作空间、刚度和运动/力传递效率进行性能评估。最后，通过一系列抓取实验开发并测试了原型，证明了其在广泛物体范围内进行稳定和高效操作的能力。结果验证了该设计在提高抓取多样性和操作精度方面的有效性，为高级机器人操作任务提供了一个有前景的解决方案。
英文摘要：
This paper introduces a novel design for a robotic hand based on parallel mechanisms. The proposed hand uses a triple-symmetric Bricard linkage as its reconfigurable palm, enhancing adaptability to objects of varying shapes and sizes. Through topological and dimensional synthesis, the mechanism achieves a well-balanced degree of freedom and link configuration suitable for reconfigurable palm motion, balancing dexterity, stability, and load capacity. Furthermore, kinematic analysis is performed using screw theory and closed-loop constraints, and performance is evaluated based on workspace, stiffness, and motion/force transmission efficiency. Finally, a prototype is developed and tested through a series of grasping experiments, demonstrating the ability to perform stable and efficient manipulation across a wide range of objects. The results validate the effectiveness of the design in improving grasping versatility and operational precision, offering a promising solution for advanced robotic manipulation tasks.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
