Kinematic Model of Anthropomorphic Robotics Finger Mechanisms

Abstract

Research on Kinematic Model of Anthropomorphic robotics Finger mechanisms is being carried out to accommodate a variety of tasks such as grasping and manipulation of objects in the field of industrial applications, service robots, and rehabilitation robots. The first step in realizing a fully functional of anthropomorphic robotics Finger mechanisms is kinematic modeling. In this paper, a Kinematic Model of Anthropomorphic robotics Finger mechanism is proposed based on the biological equivalent of human hand where each links interconnect at the metacarpophalangeal (MCP), proximal interphalangeal (PIP) and distal interphalangeal (DIP) joints respectively. The Kinematic modeling was carried out using Denavit Hartenburg (DH) algorithm for the proposed of Kinematic Model of Anthropomorphic robotics Finger mechanisms.