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Title: Kinematic Modeling and Analysis of a Multifingered Robotic Hand
Authors: Parida, P K
Biswal, B B
Khan, M R
Keywords: Multi-fingered gripper
Anthropomorphic hand
Kinematic design
Issue Date: Sep-2011
Citation: The International conference on Manufacturing Science and Technology (ICMST2011), September 16-18, 2011, Singapore
Abstract: Precise and secure handling of flexible or irregularly shaped objects by robotic hands has become a challenge. Robot hands used in medical robotics and rehabilitation robotics need to be anthropomorphic to do the desired tasks. Although it is possible to develop robotic hands which can be very closely mapped to human hands, it is sometimes poses several problems due to control, manufacturing and economic reasons. The present work aims at designing and developing a robotic hand with five fingers for manipulation of objects. The kinematic modeling and its analysis, as a part of the development process is presented in this paper. The simulation results of the hand shows that the conceptualized design is yielding the desired result and works very efficiently.
Description: Copyright belongs to proceeding publisher
Appears in Collections:Conference Papers

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