STUDY ON THE KINEMATICS OF A THREE-FINGERED ROBOT HAND

This paper discusses the kinematics of manipulating an object by a three-fingered hand with 9 joints,for the case of pure rolling between fingertips and object. The relationships in position, velocity andacceleration between the finger-joint motions and the motion of an object are formulated. And the motionconstraints among 9 joints are established.