American Journal of Mechanical Engineering
ISSN (Print): 2328-4102 ISSN (Online): 2328-4110 Website: Editor-in-chief: Kambiz Ebrahimi, Dr. SRINIVASA VENKATESHAPPA CHIKKOL
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American Journal of Mechanical Engineering. 2013, 1(7), 443-446
DOI: 10.12691/ajme-1-7-58
Open AccessArticle

Kinematic Analysis of Humanoid Robot Hand

Ivan Virgala1, , Michal Kelemen1 and Štefan Mrkva1

1Department of Applied Mechanics and Mechatronics, Technical University of Košice / Faculty of Mechanical Engineering, Košice, Slovakia

Pub. Date: November 22, 2013

Cite this paper:
Ivan Virgala, Michal Kelemen and Štefan Mrkva. Kinematic Analysis of Humanoid Robot Hand. American Journal of Mechanical Engineering. 2013; 1(7):443-446. doi: 10.12691/ajme-1-7-58


The paper deals with kinematic analysis of humanoid robot hand. The first of all the biological aspects of humanoid hand are discussed. Then the kinematic configuration of humanoid robot hand with 23 DOF is designed. This configuration should be able to do operations like grasping, holding or squeezing. In the paper the direct kinematic model is established using homogeneous transformation matrices. Consequently the workspace of particular finger can be obtain by suitable plotting algorithm in Matlab.

hand humanoid kinematics robot

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