Self-aligning Analysis of the Metamorphic Palm of the KCL/TJU Metamorphic Hand

摘要

This paper presents two methods for obtaining new self-aligning mechanisms derived from the palm of the KCL/TJU anthropomorphic reconfigurable hand. The structure and characteristics of the reconfigurable palm are presented. Freedom and constraints of the mechanism are modelled applying screw theory and the Davies' adaptation of Kirchhoff's circulation law to multibody system. Applying matroid theory concepts, redundant constraints are identified, and all possible self-aligning mechanisms derived from the original chain are enumerated. Two methods are proposed: first, freedoms are added to specific joints, second, new joints are added to the mechanism. Both methods allow eliminating the redundant constraints present in the mechanism. Some design requirements are discussed in order to filter the self-aligning possible mechanisms, resulting in six new mechanisms for each self-aligning method proposed.