Modeling and Kinematics Study of Hand

A control model of a designed mechanical model of the hand using Screw theory is presented. Forward and inverse kinematics of a finger, which is an open-chain manipulator with four degrees of freedom (DoF), is discussed. Forward kinematics are solved using the transformations in form of exponential of twist between the adjacent link frames to obtain the configuration of the fingertip frame T relative to the base frame S. For inverse kinematics, an algorithm is proposed to get the angle of rotation of the articulation, which is close to the palm, and Paden-Kahan sub problems are used to obtain the angles of rotation of the other articulations. The models of five fingers are integrated into a complete hand and the co-simulation results using Adams and Matlab confirm the feasibility and efficiency.