Dynamic Modeling of Three Link Finger Manipulator

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 340)


This paper presents the dynamic equations of a three link manipulator which can be used as the fingers of a robotic hand. The main idea is to develop the mathematical representations of a three link finger using Newton-Euler analysis of inverse arm model of free body motion. The purpose of this study is to establish the relationship between the torque at each joint actuator and the angular position and angular velocity and angular acceleration of each link member.


Newton-Euler analysis Inverse arm model Joint torque 


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Copyright information

© Springer India 2015

Authors and Affiliations

  1. 1.Department of Applied Electronics and Instrumentation EngineeringAcademy of TechnologyHooghlyIndia
  2. 2.Department of Engineering and Technological StudiesUniversity of KalyaniKalyaniIndia

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