Kinematics of the Robomec robot hand with planar and spherical four bar linkages for power grasping

The kinematics of the Robomec robot hand with planar and spherical four bar linkages was developed for the power grasping of a circular cylinders. The Robomec robot hand is one of the humanoid robot hands and has one thumb and three fingers, which is 280mm long and less than 2.5kg by weight. The robot hand totally has 13 degree of freedom: one thumb has 4 degrees of freedom: each finger has 3 degrees of freedom. The spherical four bar linkage was specially designed to rotate like a human finger joint. The theoretical analysis was done for the criteria of selection of grasping methods in order to power grasp cylinders with small, medium, and large size of diameters relatively to the dimension of the robot hand. The kinematics of the Robomec robot hand was also developed for power grasping of cylinders with different size of diameters. The torque of the finger joints were calculated for the cases. Numerical analysis had been done in a position control mode by Recurdyn with Matlab/Simulink.