Kinematic model and analysis of an anthropomorphic robotic finger

摘要

The article represents developed anthropomorphic robotic finger and its ability to perform complex manipulations as a part of a robotic arm. The advantages and disadvantages of this type of manipulators are defined. Using a hybrid approach, a kinematic model of the system is derived. The main functional dependences of the forward and inverse kinematic model are derived. The analysis is made on the basis of differential kinematics and the workspace of the manipulator. The developed system has been tested while performing various tasks and graphical results for some of them are presented, proving the peculiarities of the control of this type of robotic systems.