Conceptual Design and Kinematic Analysis of a Five-Fingered Anthropomorphic Robotic Hand
Handling of objects with irregular shapes and that of flexible/soft objects by ordinary robot grippers is difficult. It is required that various objects with different shapes or sizes could be grasped and manipulated by one robot hand mechanism for the sake of factory automation and labour saving. Dexterous grippers will be the appropriate solution to such problems. Corresponding to such needs, we have developed an articulated mechanical hand with five fingers and 25 degrees-of-freedom which has an improved grasp capability. Since the developed hand is possible to envelope and grasp an object mechanically, it can be used easily and widely in the factory and for medical rehabilitation purpose. This work presents the conceptual design and the kinematic analysis of such a hand.
Multi-fingered gripper Anthropomorphic Kinematics Simulation
Pramod Kumar Parida B. B. Biswal Rabindra Narayan Mahapatra
National Institute of Technology, Rourkela, Odisha, India ITER, SOA University, Bhubaneswar, Odisha, India
国际会议
天津
英文
609-617
2012-07-08（万方平台首次上网日期，不代表论文的发表时间）