General Kinematic Solution and Mobility Analysis of Multi-fingered Hand Manipulation System

The authors explore the constitution of the general kinematic solution and the mobility analysis of multi-fingered hand manipulating systems. First, the kinematics equation of the multi-fingered hand manipulation is presented and the velocity spaces of object and finger joints are, respectively decomposed orthogonally by introducing appropriate inner products. Then a method suitable to all kinds of multi-fingered hand manipulating systems, and the general solution of structural kinematics formula is proposed. According to the obtained analytic expression formula of the general solution, the mapping relations between the velocity subspaces are analyzed, and the mobility analysis formulae of multi-fingered hand manipulating systems are given.