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| Main Authors: | , , , , , , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2603.00892 |
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| _version_ | 1866912934494470144 |
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| author | Tian, Chunxu Huang, Zhichao Li, Hongzeng Wang, Bo Jia, Jinghao Sun, Yirui Zhang, Dan |
| author_facet | Tian, Chunxu Huang, Zhichao Li, Hongzeng Wang, Bo Jia, Jinghao Sun, Yirui Zhang, Dan |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_00892 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | A Novel Reconfigurable Dexterous Hand Based on Triple-Symmetric Bricard Parallel Mechanism Tian, Chunxu Huang, Zhichao Li, Hongzeng Wang, Bo Jia, Jinghao Sun, Yirui Zhang, Dan Robotics 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. |
| title | A Novel Reconfigurable Dexterous Hand Based on Triple-Symmetric Bricard Parallel Mechanism |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.00892 |