Kinematic analysis of four-fingered tendon actuated robotic hand

ABSTRACT

This paper presents a four-fingered robotic hand, designed to carry out grasping operations along with different object manipulation tasks. The design of this hand resembles a human hand which is the perfect dexterous robotic gripper. In this paper, the forward kinematics of the designed hand is carried out using the Denavit-Hartenberg (D-H) parameters, to calculate the position and orientation of each of the fingertips. Inverse kinematics of the hand is formulated to compute the different joint angles for different fingertip configurations. Kinematic simulations are realised to estimate the workspace of the four finger robotic hand using the MATLAB interface. All possible fingertip trajectories are plotted in joint space to determine the motion constraints of the developed hand model. The results obtained confirm that the hand is suitable for grasping objects of variable geometry and materials within its workspace. The motion of the fingers is flexible enough for different object manipulation. These analysis shows that this hand is capable to perform the desired tasks successfully.

KEYWORDS:

• Degrees of freedom (DOF)
• Denavit-Hartenberg (D-H)
• four-fingered robotic hand

Authors contribution

Neha E: Drafting and Analysis; Suhaib M. & Mukherjee S.: Supervision; Shrivastava Y.: Proof read, redrafting and corrections/supervision.

Acknowledgments

We are thankful to Jamia Millian Islamia for providing the facilities for conducting this work.

Availability of data and material

No data will be shared/no associated data.

Disclosure statement

The authors declare nor conflict of interest.

Additional information

Notes on contributors

E. Neha

Dr. Eram Neha is currently working as an Assistant Professor in The Department of Mechanical Engineering, Galgotias College of Engineering and Technology, Greater Noida. She has Pursued her B.Tech in Mechanical Engineering from MJP Rohilkhand University, Bareilly in 2011. Thereafter She obtained her M.Tech in CAD/CAM and ROBOTICS from Thapar University Patiala in 2013 and Ph.D. (ROBOTICS) from Jamia Millia Islamia, New Delhi. Her areas of Interest are robotics, mechatronics, CAD-CAM, Automation and CIM, Internet of Things, etc.

M. Suhaib

Mohd Suhaib graduated from Aligarh Muslim University in Mech. Engineering in 1990, obtained M.Sc. Engineering (Machine Design) from AMU Aligarh, and Ph.D. (Robotics) from Jamia Millia Islamia, New Delhi. Presently He is Professor in Mechanical Engineering Department, Faculty of Engineering and Technology, Jamia Millia Islamia. His areas of interest are robotics, mechatronics, automation & manufacturing. He has guided several M.Tech. & Ph.D. in these areas.

S. Mukherjee

Prof. Sudipto Mukherjee is working as Professor at the Department of Mechanical Engineering, Indian Institute of Technology, Delhi. He obtained his B.tech from Indian Institute of Technology, Kanpur. Thereafter, he pursued his M.S and Ph.D. from Ohio State University, USA. His research interest includes Mechanism, Robotics, Mechanical system Design, Impact Biomechanics. He has more than 30 Years of Academic teaching experience at IIT.

Yogesh Shrivastava

Dr. Shrivastava has a result-oriented profile with more than 3 dozens of research papers in various journals of repute. Dr. Shrivastava has completed his Ph.D. in 2019 with specialization in manufacturing technology and has research interest in Fault diagnosis in machinery using signal processing techniques, Unconventional machining of advance materials, Fabrication of fiber reinforced Composite. He has reviewed many articles that are published in renowned journals. Currently, he is working as Assistant Professor in the Mechanical Engineering Department at Galgotias College of Engineering and Technology, Greater Noida, India.