Development of Robotic Hand

Humanoid robots have become more important in the military applications, space exploration missions and hazardous environments like mining. The purpose of a humanoid robot is to walk, jump, run, grasp the objects, manipulate the objects etc., Robotic hand plays an important role for a humanoid robot. This thesis focuses on the development of robotic hand for the humanoid robot. It includes (a) Development of robotic hand (only four fingers)with tendons and servomotors, (b) Development of robotic hand only with the servo motors for practicing the human grasps and the heavy wrap has been demonstrated, (c) Design of robotic Arm and the experimental setup to conduct experiments for improvising the robot efficiency

On Computing the Friction Forces Associated with Three-Fingered Grasp

Computation of friction forces between fingers and object for a given external force is important in grasp planning. Based on the required friction forces, the magnitudes of the grasping forces can be adjusted in order to avoid slippage of the object between fingers. A new method is presented for computing the friction forces between the fingertips of a dexterous mechanical hand and the object. Finger-tips are modelled so they are able to exert normal forces and are making point contact with friction with the object. The method of this paper utilizes the geometrical information on the grasp configuration, screw geometry and biorthogonal system. Unlike the method proposed by (Holzmann and McCarthy 85), the method of this paper does not involve matrix inversion and the assumptions under which the computations are valid have a simple geometrical meaning. The method is demonstrated through detailed solutions of two examples. 1 Introduction When grasping objects with a dexterous mechanical..