Design and development of an anthropomorphic metamorphic robotic hand

Marcenko, O

Abstract

This work presents analysis of the 4-fingered robotic hand and is a continuation of the Bachelor’s thesis “Design and Development of an Anthropomorphic Metamorphic Robotic Hand”. First, general comparison between scientific and commercial robotic hands is introduced. Specification and structure of the hands are studied. Noted tendencies are discussed. After that, kinematic analysis of the proposed manipulator is produced. Based on kinematics, dynamic model of the hand is investigated and then programmed in MatLab software for numerical simulations. Therefore, description of capabilities and properties of the proposed robotic hand is given. In addition, control techniques are discussed and SimMechanics tool of the MatLab software is used for providing supplementary data. In the end, FEA of vulnerable areas is examined.

Citation

Marcenko, O. (in press). Design and development of an anthropomorphic metamorphic robotic hand. (Dissertation). University of Salford

• Thesis Type: Dissertation
• Acceptance Date: Dec 18, 2018
• Deposit Date: Dec 18, 2018
• Publicly Available Date: Dec 18, 2018