Modelling and Finite Element Based Analysis of Grasping of a Cuboidal Shaped Object by a Five Fingered Underactuated Robotic Hand

Biswal, Deepak Ranjan; Sahoo, Dibyendu Sekhar; Routray, Bikram Keshari

doi:10.14445/23488360/ijme-v9i6p101

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“…The detailed concept of the Design of an anthropomorphic robotic hand with the combined effect of the tendon as well as linkage driven has been studied [10]. Modelling and Finite Element Based Analysis of Grasping of a Cuboidal Shaped Object by a Five Fingered Underactuated Robotic Hand is presented [11]A robotic hand with five fingers that are optimized kinematically has been discussed [12].The process of adaptive alliances for operation with a high degree of merging has been presented in UNIPIhand [13]. Forward and reverse kinematic analysis of five-fingered robotic hands has been proposed, with research focusing first on grasping differently shaped objects and secondly on analyzing the movement of robotic fingers when grasping differently shaped objects [13].…”

Section: Introductionmentioning

confidence: 99%

Modelling and Finite Element Based Analysis of a Five Fingered Underactuated Robotic Hand

Biswal¹,

Parida²

2022

IJRASET

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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.

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