Modeling and Analysis of an antagonistically driven robot hand

Abstract

In DLR, the third generation of an anthropomorphic hand is being developed. The present work focussed on the development of the kinematic and friction model of the finger. A forward kinematic model which deteremines the change in length of the tendons w.r.t to the joints of the finger is derived. Causes for friction in the finger are discussed. Friction models for the motor and the finger are investigated. Determination of motor parameters namely viscous and static friction using least square approximation methods is done. Experiments and simulation results are shown to support the estimated parameters.