제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Kinematic analysis of POSTECH Hand I with new symbolic notation

  • Choi, H.-R. (Robotics Lab., Department of Mechanical Engineering, Pohang Institute of Science and Technology, Pohang P.O.Box 125, 790-600) ;
  • Chung, W.-K. (Robotics Lab., Department of Mechanical Engineering, Pohang Institute of Science and Technology, Pohang P.O.Box 125, 790-600) ;
  • Youm, Y. (Robotics Lab., Department of Mechanical Engineering, Pohang Institute of Science and Technology, Pohang P.O.Box 125, 790-600)
  • Published : 1991.10.01
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Abstract

Recently, dexterous mechanical hands have become of interest in the field of robotics. In this paper, a new symbolic C-Y notation is proposed for the kinematic modeling, and we solve the kinematics of a simplified model of POSTECH Hand 1, which is a 5 fingered, 20 degrees of freedom anthropomorphic hand. POSTECH Hand I is designed to have distinctive kinematic structure and the kinematic analysis of the hand is carried out using C-Y notation. To prove the feasibility of C-Y notation, D-H notation is also applied to the POSTECH Hand 1. In the inverse kinematic analysis, we neglect the fingertip geometry and assume the point contact with 3 degrees of freedom constraints. The configurations which optimize manipulability index[2] was obtained based on the simulation experiments on the SUN-4 graphic workstation using SUNPhigs graphic software.

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