No abstract

Providing a robotic system with dexterous skills and autonomous capabilities is a key challenge in the field of humanoid robotics, particularly in areas such as industrial manufacturing, prosthetics, and orthopaedic rehabilitation. Providing such a system would be extremely useful in these areas. In order for its functionality to be fully realised, a multifingered robotic hand calls on a significantly higher level of actuation and transmission systems. Under actuation techniques provide the impression of being a workable solution for achieving high degrees of dexterity in robotic hands without the need for more complex mechanical design. One of the most defining characteristics of an under-actuated robotic hand is that the needed number of actuators to control the hand is fewer in number than the degree of freedom that the hand possesses. When compared to a fully actuated version of the same hand, an identical hand with under actuation offers a considerable reduction in the complexity of the control system and a large cost savings. The current study proposes the design and kinematic analysis of an anthropomorphic five-finger robotic hand. Four of the fingers and the thumb are under-actuated, and the hand has twenty-one degrees of freedom and twelve degrees of actuation.

Imparting the dexterity and autonomous competence to a robotic system is a significant burden in humanoid robotics, especially in the fields of industrial manufacturing, prosthetics, orthopedic rehabilitation, etc. Operating a humanoid hand requires a very innovative actuator and transmission system. The under-actuated concepts are proving to be a possible means of achieving extremely dexterous robotic hands without the need for diverse mechanical design. The main characteristics of an under-actuated robotic hand are that fewer actuators are required to operate it than the degrees of freedom. The under-actuated equivalent hand is significantly less expensive than the fully-actuated equivalent hand and remarkably reduces the complexity of the control system. The existing work dealt with the modeling and finite element-based analysis of an anthropomorphic underactuated robotic hand using five fingers including the thumb and palm with dexterity and with a total of twenty-one degrees of freedom.

The present paper deals with vibration analysis of an axially functionally graded nonprismatic beam using finite element method. A two noded beam element with two degrees of freedom at each node has been considered for the analysis. The varying cross sectional dimensions with mechanical properties of functionally graded materials have been included in the evaluation of matrices of structural parts. A polynomial distribution of mass density and modulus of elasticity is assumed in the present study. The convergence study has been carried out with the existing available results.

The study examines the vibration analysis of a damped cantilever beam with nonuniform variation in material properties using finite element methods. With power modification of material parameters in the axial direction, the static and dynamic response of a prismatic rectangular beam with damping has been examined. For the finite element approach, two noded beam elements with two degrees of freedom at each node were evaluated. The power law variation of material properties was used throughout the investigation. This research investigated the effects of proportional damping on displacement, velocity, and acceleration responses. The proposed beam's mass, stiffness, and damping matrices were calculated using Hamilton's concept. In the temporal domain, the Newmark Method has been utilized