Analyzing, Modeling and Simulation of Humanoid Robot Hand Motion

摘要

The paper deals with analyzing, modeling and simulation of motion of humanoid robot hand. At first, the human hand is introduced from the view of biology with focus on bones and joints. Particulars places of motion are replaced by corresponding mechanical joints. Subsequently the kinematic configuration of humanoid hand consisting of 24 degrees of freedom is designed. New method for inverse kinematic model is introduced using Matlab functions. Next, dynamic model of humanoid hand is introduced using model-based design by means of Matlab/SimMechanics. The result of the work is model in Matlab, which can control of particular fingers motion.