Kinematic Analysis of Humanoid Robot Hand

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.