KINEMATICS OF A GRASPING ARTICULATED MECHANICAL HAND

Abstract

The present investigation deals with the representation of the geometrical and kinematical states of a robotic hand constituted from an arborescent system. Closed loops Constraints are integrated whenever a capture of objects is confronted. In order to highlight the singularities, the hand kinematical analysis is carried out in free movement without contact. The incorporation of the various kinematical constraints corresponding to different types of contact are studied afterwards. The contact points are determined through the application of the inverse geometric model of the active chain. Finally, the study is illustrated with an application consisting of a hand with four fingers enabling the grasping of diverse objects.

DOI: http://dx.doi.org/10.5755/j01.mech.19.2.4148