Yang Wenzhen

Intersection workspace visualization of multi-finger hands

The intersection workspace of multi-finger hands means the overlapping workspace in 3D Euclidean space where several fingertips can reach together, and is very valuable for grasp space planning, motion control and mechanical design for multi-finger hands. But, the intersection workspaces usually have sophisticated forms, which are really hard for robotic experts to image them. We present a general approach to visualize and analyze the intersection workspace of multi-finger hands. We firstly deduce the displacement equation of the fingertip, then generate 3D workspace of the fingertip and lastly obtain the intersection workspace of the multi-finger hands. This approach can visualize intersection workspaces with integrated forms and contours, and analyze the volume of the intersection workspaces. The vivid form and volume analysis of intersection workspaces are useful for robotic experts to accurately and intuitionally understand the fingertip motion ranges, plan the motion routes of fingers and avoid the motion collision among fingers.

A Workspace Modeling Approach for Multi-finger Hands

Finger workspace is one of the most important features to evaluate the kinematic performances of the multifinger hands. It is also benefit for grasp planning, mechanical design, and motion control. Although many multi-finger hands have been developed over the last few decades, how to generate and visualize their workspaces is still a challengeable problem. We propose a workspace generation and visualization approach to explain the workspace characteristics of a multi-finger hand (ZSTU hand), which can help to solve the problem of choosing a grasp with the gripper constrains. Compared with previous researches, this approach can model more integrated fingertip workspaces with vivid forms and contours, which is valuable for researchers to accurately and intuitionally understand the fingertip motion ranges and the analysis of the workspace volume. These performances can help researchers to optimize the mechanical structures of the multi-finger hand, and improve the kinematic performances of the multi-finger hand.