In humanoid robotics, the capacity to impart dexterity and independent skill to a robotic structure is in high demand, notably in industrial tasks, prosthetics and rehabilitation, and so on. It requires an inventive actuator and gearbox system to move a humanoid hand. Underactuated notions are proven to be a viable method of generating exceptionally dexterous robotic hands without requiring a diversified mechanical design. An underactuated robotic hand has less actuators than the number of degrees of freedom. The control system's complexity has been significantly decreased and the underactuated comparable hand is much less lavish than the hand of fully actuated type. Underactuated robotic hands, with fewer actuators than degrees of freedom, have garnered significant interest due to their potential for increased efficiency, simplicity, and adaptability to complex grasping tasks. This research paper presents a comprehensive study on the modeling and analysis of a three-fingered robotic hand with under actuation concept based on linkage-driven mechanism. The projected model consists of three fingers and a palm, designed to mimic the dexterous capabilities of the human hand while utilizing fewer actuators. ADAMS software performs the design and analysis, and the finite element based analysis has been performed in ANSYS environment for structural analysis. The simulation result is compared with existing results and the modeled hand is found suitable for grasping. The proposed underactuated robotic hand model opens avenues for cost-effective and efficient solutions in tasks requiring intricate grasping and manipulation, thus contributing to advancements in humanoid robotics with broader societal implications.


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    Title :

    Linkage-Driven Three-Fingered Underactuated Robotic Hand Modeling and Analysis for Dexterous Grasping and Manipulation


    Additional title:

    Smart Innovation, Systems and Technologies



    Conference:

    Congress on Control, Robotics, and Mechatronics ; 2024 ; Warangal, India February 03, 2024 - February 04, 2024



    Publication date :

    2024-10-31


    Size :

    14 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English






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    Three-Fingered Robot Hand

    Ruoff, C. F. / Salisbury, J. K. | NTRS | 1984