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Please use this identifier to cite or link to this item: http://hdl.handle.net/2080/1752

Title: Conceptual Design and Kinematic Analysis of a Five-Fingered Anthropomorphic Robotic Hand
Authors: Parida, P K
Biswal, B B
Mahapatra, R N
Keywords: Multi-fingered gripper
Anthropomorphic
Kinematics
Simulation
Issue Date: 2012
Publisher: Springer-Verlag London
Citation: J. S. Dai et al. (eds.), Advances in Reconfigurable Mechanisms and Robots I,, Springer-Verlag London 2012
Abstract: 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.
Description: Copyright for this book chapter belongs to Springer-Verlag London
URI: http://10.1007/978-1-4471-4141-9_55
http://hdl.handle.net/2080/1752
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