Kinematic Analysis of Anthropomorphic Servomotor Actuated Robotic Hand
Authors
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Galgotias College of Engineering and Technology, Greater Noida, U.P ,IN
Amir Khan -
Galgotias College of Engineering and Technology, Greater Noida, U.P ,INNirmaan Manocha
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Galgotias College of Engineering and Technology, Greater Noida, U.P ,INHarsh Agnihotri
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Galgotias College of Engineering and Technology, Greater Noida, U.P ,INEram Neha
DOI:
https://doi.org/10.18311/jmmf/2022/32250Keywords:
No Keywords.Abstract
This paper shows the kinematic analysis of various phalanges of an anthropomorphic robotic hand i.e., Index finger, Ring finger and Thumb to find the coordinates of their finger-tip and operating zone of the hand. Anthropomorphic comes from the Latin word which means replica of human being. Kinematics is applied in astronomy to portray the movement of bodies of different shape, size and structures; and in mechanical planning, better mechanics and biomechanics than depict the movement of different phalanges and joints. In this paper, the forward kinematics of the planned hand is completed utilizing the Denavit Hartenberg - (D-H) parameters, to compute the position and direction of every one of the fingertips. With the help of (D-H) parameters the transformation matrix of index finger, ring finger and thumb has been formed to find finger-tip coordinates at maximum joint angles. Coordinates of the finger-tip is been shown and plotted for all possible fingertip and their trajectories to shows finger and thumb movement in space with the help of Robo-Analyser. These analysis indicates that this hand is able to effectively play out the ideal challenge effectively.
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