Analysis of decoupled 2-DOF anthropomorphic fingers

摘要

In this paper, we analyze in detail the kinematics, parameter optimization, and simulation of 2-DOF anthropomorphic fingers, including its forward kinematics, parameter determination, model design, and statics studies. We also analyze the influence of angles on the end track and the force situation. The findings of this study provides helpful insight into the analysis of decoupled multi-DOF anthropomorphic fingers.