Workspace and orientation analysis of a parallel structure for robotic fingers

This paper investigates the workspace and the orientation capability of robotic fingers with a five-bar linkage and its variance defined by the parameter of a base link. Associating with the kinematics model and the link parameter analysis of a general structure in the form of coincidence of two ground pivots, the workspace and the orientation mapping of the robotic finger are presented and singularity conditions under different link parameters are discussed. This is then extended to variant mechanisms with separate ground pivots forming a structure of a parallel mechanism for robotic fingers, leading to further singularity analysis and workspace discussion. The orientation capability is then depicted in the workspace of this variance. A robotic finger is design to show the industrial application of the Analysis.