This paper introduces a novel design for a robotic hand based on parallel mechanisms. The proposed hand uses a triple-symmetric Bricard linkage as its reconfigurable palm, enhancing adaptability to objects of varying shapes and sizes. Through topological and dimensional synthesis, the mechanism achieves a well-balanced degree of freedom and link configuration suitable for reconfigurable palm motion, balancing dexterity, stability, and load capacity. Furthermore, kinematic analysis is performed using screw theory and closed-loop constraints, and performance is evaluated based on workspace, stiffness, and motion/force transmission efficiency. Finally, a prototype is developed and tested through a series of grasping experiments, demonstrating the ability to perform stable and efficient manipulation across a wide range of objects. The results validate the effectiveness of the design in improving grasping versatility and operational precision, offering a promising solution for advanced robotic manipulation tasks.

翻译：本文提出一种基于并联机构的新型机器人手设计。该手采用三重对称Bricard连杆机构作为可重构手掌，增强了对不同形状尺寸物体的适应能力。通过拓扑与尺度综合，该机构实现了适用于可重构手掌运动的平衡自由度与连杆构型，在灵巧性、稳定性和承载能力之间取得平衡。进一步运用旋量理论与闭环约束进行运动学分析，并基于工作空间、刚度及运动/力传递效率评估性能。最后研制样机并通过系列抓取实验进行测试，证明其能够对多种物体实现稳定高效的操控。实验结果验证了该设计在提升抓取多样性与操作精度方面的有效性，为先进机器人操控任务提供了有前景的解决方案。