Dynamic Model Of Anthropomorphic Robotics Finger Mechanisms
Journal Title: International Journal of Modern Engineering Research (IJMER) - Year 2013, Vol 3, Issue 2
Abstract
Abstract: Research on Dynamic Model of Anthropomorphic Robotics Finger Mechanisms (ARFM) 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 after kinematic modeling in realizing a fully functional of anthropomorphic robotics Finger mechanisms is dynamic modeling. In this paper, a dynamic 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 Lagrangian method was used to derive the dynamics for the proposed of Mathematical Model of Anthropomorphic robotics Finger mechanisms.
Authors and Affiliations
Abdul Haseeb Zaidy
Keywords
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