Development of Novel Hybrid Hand Formed by a Parallel Wrist and Three Soft-flexible Fingers

A prototype of a novel hybrid hand is developed by combing a parallel wrist with three flexible fingers. Its dynamics model is established, its grabbed forces are measured, and its grabbing performances are analyzed. First, Jacobian and Hessian matrices of the moving platform in the parallel wrist are derived, the kinematics formulas for solving the general velocity and the general acceleration of the moving platform are derived. Second its dynamics model is established for solving the dynamic actuation forces, the dynamic constrained forces of the developed hybrid hand. Third, its simulation mechanism is constructed in Matlab, and the theoretical solutions of the kinematics and the dynamics of the developed hybrid hand are verified to be correct using its simulation mechanism. Finally, when objects with different mass are grabbed by prototype of hybrid hand in different poses, the grabbed forces are measured, and the grabbing performances are discovered and analyzed to verify its merits.