Kinematic Design and Compliant Grasp Analysis of a 5-Fingered Robotic Hand

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, the present work is towards the design and development of an articulated mechanical hand with five fingers and twenty five degrees-of-freedom having an improved grasp capability. Since the designed hand is capable of enveloping and grasping an object mechanically, it can be conveniently used in manufacturing automation as well as for medical rehabilitation purpose. This work presents the kinematic design and the grasping analysis of such a hand.