Kinematic Analysis of Three Fingered Robot Hand Using Graphical Method

Abstract—Multi-fingered robot hand is the one which can be employed in power grasping as well as precision grasping. Mechanical hands find use in remote manipulations in space, nuclear and undersea exploration and prosthetics. Development of such dexterous hand is a challenging one. On the attempt of developing a three fingered robot hand, firstly, the mechanical structure of the hand is done. Forward kinematics has then been done on the designed hand using D-H method. The graphical approach has been used in this paper for inverse kinematics in order to find joint angles for the different configurations. The results obtained from the inverse kinematics are then compared with forward kinematics results in order to validate the developed model.