Static analysis of parallel robots with compliant joints for in-hand manipulation

Many robotic hands use compliant joints because they provide several advantages when interacting with objects in unknown environments, but they also modify the relation between external and internal forces and vary the reachable workspace. This work proposes a detailed study of how compliant joints modify the statics of hands, from the point of view of parallel manipulators. The chosen mathematical framework clarifies the role of joint compliance and its effect on the manipulator performance. This framework is then used in an example application to quantify the reduction/increase of torque exerted by the active joints due to the influence of the passive compliant ones for a three fingered hand.