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Ivanka, J.: Sensors in commercial safety industry and in mechatronics systems. In: Metalurgija, vol. 49, Zagreb 2/2010, vyd. Croatian Metallurgical Society, s. 297-300, Zagreb, Croatia, Imp. F.: 0,316

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Article

Kinematic Analysis of Humanoid Robot Hand

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


American Journal of Mechanical Engineering. 2013, Vol. 1 No. 7, 443-446
DOI: 10.12691/ajme-1-7-58
Copyright © 2013 Science and Education Publishing

Cite this paper:
Ivan Virgala, Michal Kelemen, 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.

Correspondence to: Ivan  Virgala, Department of Applied Mechanics and Mechatronics, Technical University of Košice / Faculty of Mechanical Engineering, Košice, Slovakia. Email: ivan.virgala@tuke.sk

Abstract

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.

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