Identifying singularities of a three-fingered robot hand

singularities are identified by caculating the determinant of jacobin matrix over the operating range of the gripper.the end -effector configuration becmes singular if the jacobin determinant is zero.the end-effector jacobin is dervied analytically based on either fingertip position or orientation.both of internal singularities and boundary singularities areidentified in a workspace of the robot hand the dextrous end -effector consisting of three articulated fingers placed symmetrically on a circular base. the articulated finger comprise three segments three active joints ten passive joints four solid control links and three independent inputs which results in three degrees of freedom for culing bending and rotation actions in the task space considering singularities and forward kinematic solutions over the operating range of the robot hand are carried out to find robot applications.

کلیدواژه ها:

singularities ، end ، effector ، kinematic solution ، jacobin