Kinematics and Statics Analysis of Dexterous Hand
- 10.2991/icmcm-16.2016.54How to use a DOI?
- robot dexterous hand; D-H parameter method; kinematic; statics.
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.
- © 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 -