Grasp analysis of a four-fingered robotic hand based on Matlab simmechanics

Neha, E.; Suhaib, M.; Asthana, S.; Mukherjee, S.

doi:10.22061/jcarme.2019.3427.1390

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	Grasp analysis of a four-fingered robotic hand based on Matlab simmechanics
Journal of Computational & Applied Research in Mechanical Engineering (JCARME)
مقاله 1، دوره 9، شماره 2 - شماره پیاپی 18، اردیبهشت 2020، صفحه 169-182 اصل مقاله (1.61 M)
نوع مقاله: Research Paper
شناسه دیجیتال (DOI): 10.22061/jcarme.2019.3427.1390
نویسندگان
E. Neha^* ¹؛ M. Suhaib¹؛ S. Asthana²؛ S. Mukherjee³
¹Jamia Millia Islamia, New Delhi, Delhi,110025, India
²IGDTUW, New Delhi, Delhi,110006, India
³Indian Institute of Technology, Delhi, India
تاریخ دریافت: 24 اسفند 1396، تاریخ بازنگری: 29 بهمن 1397، تاریخ پذیرش: 06 اسفند 1397
چکیده
The structure of the human hand is a complex design comprising of various bones, joints, tendons, and muscles functioning together in order to produce the desired motion. It becomes a challenging task to develop a robotic hand replicating the capabilities of the human hand. In this paper, the analysis of the four-fingered robotic hand is carried out where the tendon wires and a spring return mechanism is used for the flexion and extension motion of the fingers, respectively. Stable grasping and fine manipulation of different objects are desired from any multi-finger robotic hand. In this regard, it becomes necessary to check the performance of the four-fingered robotic hand. Simulations are performed for the hand to grasp objects of different size and shapes, and the hand model is controlled in a MATLAB environment using the SimMechanics toolbox. Here the Kinematics and Dynamics study of the hand system is carried out by importing the Solidworks model into the SimMechanics. Simulation results demonstrate that the developed hand model is able to grasp objects of varying size and shapes securely.
کلیدواژه‌ها
SimMechanics؛ Multi-finger hand؛ Robotic gripper؛ Tendon-driven mechanism

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Grasp analysis of a four-fingered robotic hand based on Matlab simmechanics