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Kinematics Analysis and Grasping Simulation of a Humanoid Underactuated Dexterous Hand

This paper mainly analyzes the kinematics of an underactuated dexterous hand. This dexterous hand has five humanoid fingers which are driven by linkage mechanisms with six linear actuators. The linkage mechanism makes the dexterous hand compact and easy to control. The forward and inverse kinematics of the four fingers and the thumb of this hand are calculated respectively. Then, the workspace of a human hand and the dexterous hand are analyzed. In addition, the correctness of kinematic analysis is verified by ADAMS software. Finally, the process of grasping different objects with appropriate actions is simulated, and the results show that the dexterous hand has good grasping capability.