Design and Simulation of Five-Fingered Hand with Linkage Mechanism

Abstract

In this paper, the five-fingered hand with linkage mechanism is presented. Four-link mechanisms are used in the design of the finger. Based on the analysis on the geometrical constraint to linkage mechanisms and mechanically coupled, the mathematical model of the linkage parameters for the finger is obtained. An example is given, and motion simulation is carried out, which demonstrate the effectiveness of the mathematical model.