Biomechanic robot hand kinematics and simulation
Erkhembayar, Yalguun (2026)
Kandidaatintyö
2026
School of Energy Systems, Konetekniikka
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Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi-fe2026042835495
https://urn.fi/URN:NBN:fi-fe2026042835495
Tiivistelmä
Main purpose of this thesis is to create and develop kinematic model to simulate dexterous motions that is required for various tasks in a fusion reactor. The thesis begins with presenting information regarding the human hand anatomy. This includes degrees of freedom, and range of motions for the joints. The study also provides an example kinematic model of a human hand, which is then used as a reference for the kinematic model development. This information is then used as an evaluation criterion to select the final robotic hand.
Kinematic calculations of the thesis are using Denavit-Hartenberg(DH) convention. The convention is used to calculate the fingertip position with the joint parameters. The model is then implemented into Simulink to simulate and check if the kinematic model can mimic dexterous motions.
The result of the simulation provides trajectories, and position of the fingertip. These results prove that the developed model is sufficient in performing tasks that require human hand motion. Finally, the thesis states about the challenges the author faced during the Inverse Kinematics calculation, mentioning that the complex geometry of the robotic hand made it impossible to use simple geometric calculations to find the optimal joint parameters. The findings of this study provide detailed information on controlling robotic hands, thus contributing towards the development of the robotic industry.
Kinematic calculations of the thesis are using Denavit-Hartenberg(DH) convention. The convention is used to calculate the fingertip position with the joint parameters. The model is then implemented into Simulink to simulate and check if the kinematic model can mimic dexterous motions.
The result of the simulation provides trajectories, and position of the fingertip. These results prove that the developed model is sufficient in performing tasks that require human hand motion. Finally, the thesis states about the challenges the author faced during the Inverse Kinematics calculation, mentioning that the complex geometry of the robotic hand made it impossible to use simple geometric calculations to find the optimal joint parameters. The findings of this study provide detailed information on controlling robotic hands, thus contributing towards the development of the robotic industry.