Full-Text Search:
Home|About CNKI|User Service|中文
Add to Favorite Get Latest Update

Mathematical Model Research for a Humanoid Hand with Five Fingers and Palm

XIN Rui-wu,XIAO Nan-feng(School of Computer Science and Engineering,South China University of Technology,Guangzhou 510641,China)  
In this paper,a mathematical model for a humanoid robot hand with five fingers and a palm(humanoid robot hand is called below for short) is investigated by consulting the anatomic study achievements of the human hands.First of all, an reference frame establishment algorithm for the humanoid robot hand frame is presented on the basis of the existing study on industrial robots.Then,according to the anatomic characteristics of the human hands,the direct and inverse kinematic model for both base joint and whole hand of the humanoid robot hand is constructed by adopting the D-H matrix.
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
©CNKI All Rights Reserved