Workspace of Multi-fingered Robotic Hands Using Monte Carlo Method

Chaudhury, Arkadeep Narayan and Ghosal, Ashitava (2019) Workspace of Multi-fingered Robotic Hands Using Monte Carlo Method. In: 18th National and 3rd Int. Conference on Machines & Mechanisms, 13-15 Dec. 2017, Mumbai, pp. 317-327.

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Abstract

Multi-fingered hands enable significantly enhanced manipulation capabilities to the robot where it is attached. As a consequence, analysis, design and development of multi-fingered hands has been of continuing interest in the robotics community. In this work, we propose a probabilistic Monte Carlo based approach to obtain the workspace of a well-known multi-fingered hand, the three-fingered Salisbury hand, modeled as a hybrid parallel manipulator. It is shown that Monte Carlo method can be used to obtain the volume of the well conditioned workspace of the hybrid manipulator in R-3 and SO(3). One of the obtained novel results is that with realistic constraints on the motion of the joints, the well-conditioned workspace of the hybrid manipulator is the largest when the grasped object area is approximately equal to the palm area. We also obtain and discuss the dependence of the workspace of the manipulator on it's geometry and other link and joint variables.

Item Type:	Conference Paper
Series.:	Lecture Notes in Mechanical Engineering
Publisher:	SPRINGER-VERLAG BERLIN
Additional Information:	3rd International and 18th National Conference on Machines and Mechanisms (iNaCoMM), Mumbai, INDIA, DEC 13-15, 2017
Keywords:	Multi-fingered hand; Monte Carlo method; Well-conditioned workspace
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	05 Mar 2020 07:35
Last Modified:	05 Mar 2020 07:35
URI:	http://eprints.iisc.ac.in/id/eprint/62445

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