A Novel Reconfigurable Dexterous Hand Based on Triple-Symmetric Bricard Parallel Mechanism

• URL: http://arxiv.org/abs/2603.00892v1
• Date: Sun, 01 Mar 2026 03:27:49 GMT
• Title: A Novel Reconfigurable Dexterous Hand Based on Triple-Symmetric Bricard Parallel Mechanism
• Abstract summary: The proposed hand uses a triple-symmetric Bricard linkage as its reconfigurable palm.<n>The mechanism achieves a well-balanced degree of freedom and link configuration suitable for reconfigurable palm motion.<n>A prototype is developed and tested through a series of grasping experiments, demonstrating the ability to perform stable and efficient manipulation.
• Score: 6.292893726919572
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: 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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