Analysis of the kinematic characteristics of a 3D printed finger of robotic humanoid hand

摘要

The development of 3D printed humanoid hand is presented in this paper. An original idea of printing the fingers completely assembled is introduced. Main kinematic characteristics of finger of humanoid hand are researched using concepts of open kinematic chain. An algorithm for determining the main kinematic characteristics of the finger, such as workspace and manipulability, is implemented. The results for all fingers, without the thumb, are described and compared using their average size and joint constraints. The benefits and applicability of the proposed research are discussed, as well as the application of 3D printing technology.