Kinematics Analysis on Humanoid Flexible Robot Hand

Xiao Min Liu; Yi Qiang Wang; De Xu Geng; Jin Tao Zhang; Guang Bin Wu

doi:10.4028/www.scientific.net/AMM.184-185.1660

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Kinematics Analysis on Humanoid Flexible Robot Hand
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 184-185Kinematics Analysis on Humanoid Flexible Robot...

Kinematics Analysis on Humanoid Flexible Robot Hand

Abstract:

A humanoid flexible robot hand is introduced base on the single bending joint and bi-directional bending flexible joint we previously developed. The robot hand has human palm shape, and all the fingers have the same structure based on the modular design, which improve the versatility and interchangeability greatly. The position and posture of the fingers are acquired by means of homogeneous transformation matrix with parameter. The study in this paper lays the foundation for further research.

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Periodical:

Applied Mechanics and Materials (Volumes 184-185)

Pages:

1660-1663

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.184-185.1660

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Online since:

June 2012

Authors:

Xiao Min Liu, Yi Qiang Wang, De Xu Geng, Jin Tao Zhang, Guang Bin Wu

Keywords:

Flexible Joint, Grasp, Humanoid Robot Hand, Position, Posture

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