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A Kinematic Study of a Robot and a Dextrous Hand

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CAD/CAM Robotics and Factories of the Future

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Abstract

This paper presents the direct kinematics of the sixteen degree-of-freedom Utah/MIT dexterous hand and the direct and inverse kinematics of the six degree-of-freedom Merlin 6500 manipulator arm.

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References

  1. Merlintm System Operators Guide, Version 3.0, American Robot Corp., June 1985.

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  2. J. Denavit, R.S. Hartenburg, “A Kinematic Notation for Lower-Pair Mechanisms based on Matrices”, ASME Journal of Applied Mechanics, Vol 22 (2), pp. 215–221, 1955.

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  3. John J. Craig, “Introduction to Robotics - Mechanisms and Control”, Addison-Wesley Publishing Co., Reading, Massachusetts, 1986.

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  4. Ranvir S. Solanki, “A Kinematic Study of a Robot and a Dexterous Hand and a Simulation of their Combined Behaviour”, M.S. Thesis, Wright State University, Dayton, OH, March 1988.

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  5. Ranvir S. Solanki, Kuldip S. Rattan, “A Kinematic Study of the Merlin 6500 manipulator and the Utah/MIT Dexterous Hand”, Report to Wright-Patterson Air Force Base - AAMRL/BBM, Dayton, OH, June 1988.

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  6. S. Narasimhan, “Dexterous Robotic Hands: Kinematics and Control”, M.S. Thesis, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology, January 1988.

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Author information

Authors and Affiliations

  1. Robotics & Digital Control Laboratory, Wright State University, Dayton, OH, 45435, USA

    Ranvir S. Solanki & Kuldip S. Rattan

  2. Armstrong Aerospace Medical Research Laboratory, Wright Patterson Air Force Base, OH, 45433, USA

    Ints Kaleps & Daniel W. Repperger

Authors
  1. Ranvir S. Solanki
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  2. Kuldip S. Rattan
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  3. Ints Kaleps
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  4. Daniel W. Repperger
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Editor information

Editors and Affiliations

  1. Artificial Intelligence Services, Technical System Development, Electronic Data Systems, General Motors, Post Box 7019, 48007-7019, Troy, MI, USA

    Birendra Prasad (Senior Engineering Staff) (Senior Engineering Staff)

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© 1989 Springer-Verlag Berlin, Heidelberg

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Solanki, R.S., Rattan, K.S., Kaleps, I., Repperger, D.W. (1989). A Kinematic Study of a Robot and a Dextrous Hand. In: Prasad, B. (eds) CAD/CAM Robotics and Factories of the Future. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-52326-7_23

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  • DOI: https://doi.org/10.1007/978-3-642-52326-7_23

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-52328-1

  • Online ISBN: 978-3-642-52326-7

  • eBook Packages: Springer Book Archive

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