Kinematic Analysis of a Dexterous Hand
نویسندگان
چکیده
Handling of objects with irregular shapes and that of flexible/soft objects by ordinary robot grippers is difficult. Multi fingered gripper may be a solution to such handling tasks. However, dexterous grippers will be the appropriate solution to such problems. Although it is possible to develop robotic hands which can be very closely mapped to human hands, it is sometimes not to be done due to control, manufacturing and economic reasons. The present work aims at designing and developing a dexterous robotic hand for manipulation of objects. Keywordsmulti-fingered gripper, robotic hand, kinematics, simulation.
منابع مشابه
Kinematic enveloping grasp planning method for robotic dexterous hands and three-dimensional objects
Three-dimensional (3D) enveloping grasps for dexterous robotic hands possess several advantages over other types of grasps. This paper describes a new method for kinematic 3D enveloping grasp planning. A new idea for grading the 3D grasp search domain for a given object is proposed. The grading method analyzes the curvature pattern and effective diameter of the object, and grades object regions...
متن کاملDeveloping a Brain- Machine Interface for Dexterous Control of an Upper-limb Neuroprosthesis
A Brain-Machine Interface (BMI) uses electrophysiological measures of brain activity to communicate with external devices, bypassing normal neuromuscular pathways. Earlier research has demonstrated the robust coding capacity of neural activity for gross motor movements such as hand and arm trajectory, and opened up the possibility of a BMI for direct neural control of a prosthetic limb and the ...
متن کاملBond Graph Modeling and Simulation of a Dexterous Hand
This paper presents a methodology for dynamic modeling and trajectory tracking of a dexterous hand. Firstly, the kinematic model is set up based on modified D-H principle. Then we employ an energy-based approach for modeling and its bond graph notation ensures encapsulation of functionality, extendibility and reusability of each element of the model. A toolbox BG V.2.1 in Matlab/Simulink is use...
متن کاملA quasi-static analysis of dextrous manipulation with sliding and rolling contacts
relationships in such a way as to yield a system of equations which describes the velocity and angular velocity of the manipulated object as functions of the robot's joint velocities. The inverse kinematic problem results in a system of equations describing the joint velocities as functions of the object's translational and angular velocities. In both cases it is assumed that the positions of t...
متن کاملThe Role of Learning and Kinematic Features in Dexterous Manipulation: a Comparative Study with Two Robotic Hands
Dexterous movements performed by the human hand are by far more sophisticated than those achieved by current humanoid robotic hands and systems used to control them. This work aims at providing a contribution in order to overcome this gap by proposing a bio-inspired control architecture that captures two key elements underlying human dexterity. The first is the progressive development of skilfu...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2011