Development of multi-finger robot hand model for dynamic analysis

Hanafi, Dirman and Mohd Zaid, Amran and Wibowo, Ignatius Agung and Ribuan , Mohamed Najib and Zakaria , Mohamad Fauzi and Mashori, Sumaiya and Arshad, Mohd Rizal (2010) Development of multi-finger robot hand model for dynamic analysis. In: International Conference on Manufacturing and Engineering Systems 2010 STUT, 16-18 December 2010, Taiwan.

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Abstract

At present, numerous mathematical models for multi-finger robot hand has been developed to imitate the real human fingers dexterity. Various mechanisms, forms and purposes of mathematical model have been applied of deriving realistic dynamic model of human hand dynamics. Each part of the finger was developed from three joints and three sections inherit the same dimension and extension movement of human finger as well as the carpometacarpal joints which have spherical and deflection movements. The joint is represented by spring stiffness and damping element. The simulation results show that the mathematical model of multi-finger robot hand justify the development of human finger modeling as a tool to analyze the multi-finger robot hand dynamics.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:multi-finger robot hand; realistic dynamic model; spring stiffness and damping element
Subjects:T Technology > TJ Mechanical engineering and machinery > TJ210.2-211 Mechanical devices and figures. Automata. Ingenious mechanisms.
Divisions:Faculty of Electrical and Electronic Engineering > Department of Robotic and Mechatronic Engineering
ID Code:3074
Deposited By:Normajihan Abd. Rahman
Deposited On:22 Feb 2013 16:28
Last Modified:21 Jan 2015 15:44

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