THEORETICAL INVESTIGATION ON KINEMATIC MODELLING OF A MULTI FINGERED ROBOTIC HAND

摘要: To accommodate the multi task accomplishments like stable grasping and fine manipulation in different fields such as rehabilitation, service robots, humanoid robots and industrial applications, attention has been pointed out on multi fingered robotic hand. The key step in this context is the mathematical modelling of the multi fingered robotic hand. As the behaviour of robots is very important for different applications, the kinematic modelling is essential for critical analysis. Based on this, present article encompasses the mathematical modelling of a multi fingered robotic hand synonymous to the biological human hand. Each link of the modelled robotic hand interconnected through distal interphalanngeal joint (DIP), proximal interphalanngeal joint (PIP), metacarpo phalangeal joint (MCP) and carpometacarpal joint (CMC) respectively. In the proposed model the modelling is carried out using Euler-langrangean formulation and Denavit Hartenberg algorithm.