Short Title: Int. J. Mech. Eng. Robot. Res.
Frequency: Bimonthly
Professor of School of Engineering, Design and Built Environment, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.
2024-10-25
2024-09-24
Manuscript received January 23, 2024; revised April 7, 2024; accepted April 30, 2024; published October 25, 2024
Abstract—This research aims to enhance dexterous grasping and manipulation capabilities through a computational approach involving a novel design of a linkage-driven, underactuated, five-fingered robotic hand. Leveraging underactuated mechanisms, the study addresses the complexity associated with individually actuated joints, offering a streamlined and efficient solution for replicating human-like hand movements. The proposed hand comprises 12 actuators and 21° of freedom, emphasizing the need for enhanced adaptability and reduced complexity in replicating human hand movements. Utilizing SolidWorks for mechanical design, Automated Dynamic Analysis of Mechanical Systems (ADAMS) is employed for dynamic simulations, enabling a comprehensive evaluation of the robotic hand’s performance in realistic scenarios. MATLAB is utilized for the required algorithm, and Analysis System (ANSYS) for structural analysis, ensuring the robustness and reliability of the robotic hand under different loading conditions. This approach integrates mechanical engineering principles with advanced simulation tools. The abstract concludes by presenting comprehensive research results, featuring general quantitative data from the entire research process, underscoring the efficacy and applicability of the computational approach in advancing robotic manipulation capabilities.Keywords—dexterous, five-fingered hand, grasping, linkagedriven, underactuated Cite: Deepak R. Biswal, Pramod K. Parida, and Alok R. Biswal, "Enhancing Dexterous Grasping and Manipulation through Linkage-Driven Underactuated Five- Fingered Robotic Hand: A Computational Approach," International Journal of Mechanical Engineering and Robotics Research, Vol. 13, No. 5, pp. 548-557, 2024.Copyright © 2024 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.
