Evaluating the pinch capability of a robotic hand is important for understanding its functional dexterity. However, many existing grasp evaluation methods rely on object geometry or contact force models, which limits their applicability during the early stages of robotic hand design. This study proposes a kinematic evaluation method for analyzing pinch configurations of robotic hands based on interactions between fingertip workspaces. First, the reachable workspace of each fingertip is computed from the joint configurations of the fingers. Then, feasible pinch configurations are detected by evaluating the relationships between fingertip pairs. Since the proposed method does not require information about object geometry or contact force models, the pinch capability of a robotic hand can be evaluated solely based on its kinematic structure. In addition, analyses are performed on four different kinematic structures of the hand to investigate their impact on the pinch configurations. The proposed evaluation framework can serve as a useful tool for comparing different robotic hand designs and analyzing pinch capability during the design stage.

翻译：评估机器人手部的捏合能力对于理解其功能灵巧性至关重要。然而，现有许多抓取评估方法依赖物体几何形状或接触力模型，这限制了其在机器人手部设计初期的适用性。本研究提出一种基于指尖工作空间相互作用的运动学评估方法，用于分析机器人手部的捏合构型。首先，根据手指关节构型计算每个指尖的可达工作空间。随后，通过评估指尖对之间的关系检测可行的捏合构型。由于所提方法无需物体几何信息或接触力模型，机器人手部的捏合能力可完全基于其运动学结构进行评估。此外，本研究对四种不同运动学结构的手部进行了分析，以探究其对捏合构型的影响。该评估框架可作为比较不同机器人手部设计及在初期阶段分析捏合能力的有效工具。