Structural design and kinematics analysis of SHU-hand II humanoid robotic hand

Abstract

A five-finger humanoid robotic hand is designed based on the structure of human hand. It has five fingers, 16 degrees of freedom. In the theoretical research of robotic hand, the kinematic is established by homogeneous transformation matrix, and then the motion trajectory of five fingers is obtained. The gesture and grasping experiment are carried out, it shows that more than ten kinds of behaviour can be achieved by robotic hands, such as pinching and holding etc. The robotic hand is installed in different robot platforms to verify that it has a wide range and good ability of grasping in different environments.