Study on kinematic characteristics of SMA bionic flexible dexterous hand

Yang Xu; Yanxiang Fu; Yingqian Ni; Xiangrui Yang; Yikun Xiong; Wenbin Zhang

doi:10.1117/12.3030338

5 June 2024 Study on kinematic characteristics of SMA bionic flexible dexterous hand

Yang Xu, Yanxiang Fu, Yingqian Ni, Xiangrui Yang, Yikun Xiong, Wenbin Zhang

Proceedings Volume 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024); 131632Q (2024) https://doi.org/10.1117/12.3030338
Event: International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 2024, Xi'an, China

Abstract

D-H parameter method is employed to conduct forward kinematic analysis of the dexterous hand in this article, in order to obtain the mechanical performance of the SMA biomimetic flexible dexterous hand for object grasping. The D-H parameters of the dexterous hand are determined, and the position expression of the fingertip relative to the base coordinate is obtained through theoretical calculations. Furthermore, inverse kinematic theoretical analysis of the biomimetic dexterous hand is conducted to obtain the joint angle parameters of each finger. A forward kinematic simulation model of the biomimetic dexterous hand is established, and the relationship between finger joint angles and fingertip position curves is obtained through simulation. The simulation results are compared with the theoretical analysis results to validate the correctness of the kinematic analysis of the dexterous hand, providing insights for its optimized design.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Yang Xu, Yanxiang Fu, Yingqian Ni, Xiangrui Yang, Yikun Xiong, and Wenbin Zhang "Study on kinematic characteristics of SMA bionic flexible dexterous hand", Proc. SPIE 13163, Fourth International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2024), 131632Q (5 June 2024); https://doi.org/10.1117/12.3030338

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