Kinematics and Statics Analysis of Dexterous Hand

DOI

10.2991/icmcm-16.2016.54How to use a DOI?

Keywords

robot dexterous hand; D-H parameter method; kinematic; statics.

Abstract

This study is based on the "Shadow" dexterous hand, whose mechanical structure are studied, and the displacement, velocity, acceleration and static force of dexterous hand joints are researched. Then the kinematics model is established by using D-H parameter method, and the forward and inverse kinematics equations and Jacobian matrix are derived. Finally the parameters of Differential kinematic and static force are analyzed and solved.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Jin Guo
AU  - Jiangnan Ni
PY  - 2016/12
DA  - 2016/12
TI  - Kinematics and Statics Analysis of Dexterous Hand
BT  - Proceedings of the 2016 7th International Conference on Mechatronics, Control and Materials (ICMCM 2016)
PB  - Atlantis Press
SP  - 261
EP  - 265
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmcm-16.2016.54
DO  - 10.2991/icmcm-16.2016.54
ID  - Guo2016/12
ER  -