Abstract The dexterous hands with high dexterity, high carrying capability, high precision and high task adaptability (multipurpose) are demanded in industry. This paper focuses on designing dexterous hands based on the parallel finger structures to improve above performances. Based on the motion property of human finger, the required motion types of the dexterous hands are proposed. The finger structures of RR-RPR and 2-UU-UPU are presented by structural evolution from the well-known PMs of parallelogram and 3-UU by means of group deduction, respectively. Two three-finger dexterous hands are designed by assembling the obtained parallel fingers on the palm in the same direction. The in-hand configurations are actually hybrid mechanisms, whose motion properties are analyzed by equivalent to the parallel mechanisms (PMs). The hands have high task adaptability that can perform the pinching operations both from the outside and inside the cavity of the objects. The kinematics of the fingers are presented to investigate the workspace performance, and the statics are analyzed to prove that the proposed parallel dexterous hands can provide desirable pinching force.

中文翻译：

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基于平行手指结构的灵巧手设计

摘要 工业需要具有高灵巧性、高承载能力、高精度和高任务适应性（多用途）的灵巧手。本文着重于设计基于平行手指结构的灵巧手以提高上述性能。基于人手指的运动特性，提出了灵巧手所需的运动类型。RR-RPR 和 2-UU-UPU 的指状结构分别由平行四边形和 3-UU 的著名 PM 的结构演化通过群推导的方式呈现。将得到的平行手指按相同方向组装在手掌上，设计出两只三指灵巧手。现有配置实际上是混合机构，其运动特性通过等效于并行机构 (PM) 进行分析。手具有较高的任务适应性，可以从物体的腔体外部和内部进行捏合操作。提出手指的运动学以研究工作空间性能，并分析静力学以证明所提出的平行灵巧手可以提供理想的捏力。