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Journal of Computational and Applied Research in Mechanical Engineering - JCARME، جلد ۹، شماره ۲، صفحات ۱۶۹-۱۸۲
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عنوان انگلیسی Grasp analysis of a four-fingered robotic hand based on Matlab simmechanics
چکیده انگلیسی مقاله The structure of the human hand is a complex design comprising of various bones, joints, tendons, and muscles functioning together in order to produce the desired motion. It becomes a challenging task to develop a robotic hand replicating the capabilities of the human hand. In this paper, the analysis of the four-fingered robotic hand is carried out where the tendon wires and a spring return mechanism is used for the flexion and extension motion of the fingers, respectively. Stable grasping and fine manipulation of different objects are desired from any multi-finger robotic hand. In this regard, it becomes necessary to check the performance of the four-fingered robotic hand. Simulations are performed for the hand to grasp objects of different size and shapes, and the hand model is controlled in a MATLAB environment using the SimMechanics toolbox. Here the Kinematics and Dynamics study of the hand system is carried out by importing the Solidworks model into the SimMechanics. Simulation results demonstrate that the developed hand model is able to grasp objects of varying size and shapes securely.
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نویسندگان مقاله Eram Neha |
Room No. 45, Deptt. of Mechanical Engineering, Faculty of Engineering & Technology, Jamia Millia Islamia, New Delhi

Mohd. Suhaib |
Department of Mechanical Enbgineering, Jamia Millia Islamia, New Delhi, India

Shruti Asthana |
Department of Mechanical Engineering, IGDTUW, New Delhi, India

Sudipto Mukherjee |
Department Of Mechanical Engineering, Indian Institute of Technology, Delhi

نشانی اینترنتی http://jcarme.sru.ac.ir/article_1033_8bb4b1bb440662c9fb73024466781e81.pdf
فایل مقاله اشکال در دسترسی به فایل - ./files/site1/rds_journals/484/article-484-2251050.pdf
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