cs.ROMar 1, 2026

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

Authors: Chunxu Tian, Zhichao Huang, Hongzeng Li, Bo Wang, Jinghao Jia, Yirui Sun, Dan Zhang

Organizations: Institute of AI and Robotics, Academy for Engineering & Technology, Fudan University, Shanghai 200433, China. · Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hung Hom, Hong Kong.

Read PDF
Ask AI
Cite

Copy citation

DOINot available for this paper

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.

Figures & tables

VVNo.n2n_{2}n3n_{3}n4n_{4}n5n_{5}VVNo.n2n_{2}n3n_{3}n4n_{4}n5n_{5}
115+Φ5+\Phi0001914+Φ14+\Phi600
228+Φ8+\Phi20021015+Φ15+\Phi410
239+Φ9+\Phi01021116+Φ16+\Phi301
2411+Φ11+\Phi40021216+Φ16+\Phi220
2512+Φ12+\Phi21021317+Φ17+\Phi201
2613+Φ13+\Phi10131417+Φ17+\Phi110
TABLE I: Combinations of Basic Links for V=1/2/3/4V=1/2/3/4 .
Fig. 1: Topological graphs and connection arrays.
Fig. 2: Transformation and Decomposition of the Graph.
Fig. 3: Symmetrical six-bar mechanisms
Fig. 4: Structural design of the triple-symmetric Bricard mechanism
Fig. 5: (a) Triple-symmetric Bricard mechanism, where β\beta and γ\gamma denote the rotation angles of adjacent revolute joints as defined in the local link frames; (b) corresponding curves of β\beta and γ\gamma with ω=2π/3\omega=2\pi/3 .
Fig. 6: (a) Schematic diagram of the triple-symmetric Bricard mechanism; (b) corresponding screw system representation.
ParameterValueParameterValue
LL /mm120ω\omega /rad2π/32\pi/3
L1L_{1} /mm(0,70)(0,70)β\beta /rad(0,π)(0,\pi)
L2L_{2} /mm(0,140)(0,140)γ\gamma /rad(2π/3,π)(2\pi/3,\pi)
L3L_{3} /mm(0,120)(0,120)––
TABLE II: Structural Parameters of the Dexterous Hand
Fig. 7: (a) L1L_{1} and L2L_{2} (b) L1L_{1} , L2L_{2} and L3L_{3} with respect to γ\gamma .
Fig. 8: (a) Jacobian Comparison (b) Relation between KL3K_{L_{3}} and L1L_{1} .
Fig. 9: The relationship between ζi\zeta_{i} , σi\sigma_{i} , κ\kappa and L1L_{1} .
Fig. 10: Dexterous hand model structural overview.
Fig. 11: Grasping comparison in different palm positions.
ObjectsClosePartially closeOpen
160mm0/30/33/3
120mm0/33/33/3
80mm0/33/33/3
40mm3/33/33/3
Mouse0/33/33/3
Plates0/30/33/3
TABLE III: Grasping Results
Fig. 12: Objects for evaluating gripper handling operations.
Fig. 13: Grasping results from the experimental process.
Fig. 14: The Pressure Sensor Data of The Capture Effect.

Explore similar work

CardsList

  1. SyLink Hand: A Synergy-Inspired Linkage-Driven Anthropomorphic Hand for Human-Like Dexterity

    Jun 12, 2026Hao Wu, Yanzhe Wang, Yu Feng +4Robotic Hand DesignRobotic Grasping

    Department of Mechanical Engineering, National University of Singapore, Singapore. · Department of Mechanical Engineering, Zhejiang University, Hangzhou, China.

  2. DexLink Hand: A Compact, Affordable, 16-DOF Linkage-Driven Hand with Human-Like Dexterity

    Jun 16, 2026Hao Wu, Yanzhe Wang, Yu Feng +4Robotic Hand DesignRobotic Grasping

    Department of Mechanical Engineering, Zhejiang University, Hangzhou, China. · Department of Mechanical Engineering, National University of Singapore, Singapore.

  3. A Reconfigurable Dual-Opposition Architecture for Single-Hand Assembly and Manipulation

    Sep 19, 2026William Su, Yunosuke Nakamura, Yixiao Wang +6Robotic Hand DesignIn-Hand Manipulation

    Aerospace Engineering Program, University of California, Berkeley, Berkeley, CA 94720, USA. · Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA 94720, USA. · Department of Mechanical Engineering, National University of Singapore, Singapore 117575.