基于三重对称布里卡德机构的可重构机械手，提升抓取适应性与精度。
A Novel Reconfigurable Dexterous Hand Based on Triple-Symmetric Bricard Parallel Mechanism
- 采用三重对称布里卡德并联机构实现手掌可重构，增强形状适应性。
- 通过螺旋理论分析，验证了工作空间大、刚度高、传动效率优的性能。
- 实测证明可在多种物体上稳定高效抓取，适合复杂操作场景。
本文提出一种基于并联机构的新型机器人手设计。所提机械手采用三重对称布里卡德连杆作为可重构掌部，显著提升对不同形状和尺寸物体的适应能力。通过拓扑与尺寸综合，实现了自由度与连杆配置的合理平衡，兼顾灵巧性、稳定性与承载能力。结合螺旋理论与闭环约束进行运动学分析，评估了工作空间、刚度及力/运动传递效率。最后搭建原型并开展一系列抓握实验，结果表明该设计在多种物体上均能实现稳定高效的操纵。验证了其在提升抓取多样性与操作精度方面的有效性，为先进机器人操作任务提供了一种有前景的解决方案。
原文摘要 · Abstract (English)
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.
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