Proceedings of the 2016 7th International Conference on Mechatronics, Control and Materials (ICMCM 2016)

Kinematics and Statics Analysis of Dexterous Hand

Authors
Jin Guo, Jiangnan Ni
Corresponding Author
Jin Guo
Available Online December 2016.
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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Volume Title
Proceedings of the 2016 7th International Conference on Mechatronics, Control and Materials (ICMCM 2016)
Series
Advances in Engineering Research
Publication Date
December 2016
ISBN
10.2991/icmcm-16.2016.54
ISSN
2352-5401
DOI
10.2991/icmcm-16.2016.54How to use a DOI?
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/).

Cite this article

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  -