Abstract
Analysis of kinematics and dynamics of the BarrettHand BH8 is implemented. Forward kinematic, inverse kinematic and differential kinematic model of one finger are established. Workspace of the fingertip and inverse kinematic examples are simulated and the analytical solution of inverse kinematics is obtained. The dynamic modeling and motion simulation of the dexterous hand finger are performed by SimMechanics toolbox in Matlab/Simulink environment. The results indicate that the proposed simulation method is effective in analyzing designing complex biomimetic motion dynamics for dextrous hand.
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Acknowledgments
This work was supported by the foundation of Chongqing Key Technologies R&D Project (No.cstc2012ggC10001) of the Chongqing Municipal Science and Technology Commission.
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Zhang, M., Shi, Y., Shen, J., Li, Y. (2013). Modeling and Simulation of Biomimetic Motion Dynamics for Dextrous Hand. In: Sun, Z., Deng, Z. (eds) Proceedings of 2013 Chinese Intelligent Automation Conference. Lecture Notes in Electrical Engineering, vol 254. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-38524-7_63
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DOI: https://doi.org/10.1007/978-3-642-38524-7_63
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