A numerical simulation of the grasp operation by LARM Hand IV: A three finger robotic hand

Authors:
Giuseppe Carbone;Antonio González
Affiliations:
LARM: Laboratory of Robotics and Mechatronics, DiMSAT, School of Engineering, University of Cassino, Via Di Biasio 43, 03043 Cassino (Fr), Italy;School of Industrial Engineering of Ciudad Real, University of Castilla-La Mancha Edificio Politécnico, Avda. Camilo José Cela s/n, 13071 Ciudad Real, Spain
Venue:
Robotics and Computer-Integrated Manufacturing
Year:
2011

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Abstract

This paper describes the development of a grasping model for LARM Hand IV. This is a robotic hand having three 1-DOF anthropomorphic fingers that has been designed and built at LARM: Laboratory of Robotics and Mechatronics in Cassino. Numerical simulations have been carried out in MSC.ADAMS environment for investigating and characterizing grasping characteristic of LARM Hand IV. In addition, control algorithms have been tested for regulating the grasp force that is provided by each finger in order to achieve a suitable firm grasp even in dynamic conditions.