Arabian Journal for Science and Engineering

, Volume 44, Issue 2, pp 935–947 | Cite as

Trajectory Tracking of 3D Hybrid Manipulator Through Human Hand Motion

  • R. Arora
  • T. K. Bera
Research Article - Mechanical Engineering


Generally, industrial manipulators have parallel architecture but these are not generally used because of small workspace as compared to serial manipulators. The drawbacks of serial manipulators are their low accuracy and less load carrying capacity. Therefore, hybrid manipulators are considered to be useful because they are combination of serial and parallel manipulators. In this paper, a three-dimensional hybrid manipulator with two parallel manipulators serially connected to each other is proposed. The forward and inverse dynamics of the system is modelled with the help of bond graph. Thumb and index finger of a human right hand are considered as hybrid manipulators in this paper. The objective of present work is to track the trajectory by thumb in three-dimensional space while drawing an arc on a white board with the help of a marker pen. At the end, the simulation results and conclusions are given to prove that the response follows the command with negligible error. Hence, this type of hybrid manipulator is suitable to be used in multi-fingered robotic grippers, pick and place operations, moving things etc.


Human hand 3-D hybrid manipulator Trajectory tracking Overwhelming control Bond graph Dynamics 


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Copyright information

© King Fahd University of Petroleum & Minerals 2018

Authors and Affiliations

  1. 1.Mechanical Engineering DepartmentThapar Institute of Engineering and TechnologyPatialaIndia
  2. 2.Thapar Institute of Engineering and Technology (Deemed University) (Earlier-Thapar University)PatialaIndia

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