Alejandro RubioWorkcell

Projects

Shadow Hand Finger Kinematics

Denavit-Hartenberg model of one Shadow Dexterous Hand finger and of the full five-finger hand in MATLAB.

Type

Simulation

Context

University of Alicante, Robot Modelling coursework

Period

2020-21

Stack

MATLAB · Robotics Toolbox · Denavit-Hartenberg

Area

[Kinematics & control]

Team project.

Media

Finger trajectory
MATLAB 3D plot of a model hand with a blue ellipse and a rod.
Hand model in MATLAB
Flex and extend cycle
MATLAB plot of a hand model in a claw pose.
MATLAB plot of a hand model over a cyan plate.
MATLAB plot of an open flat hand model.

What was built

    One finger is modelled as a four-joint SerialLink with joint limits (link lengths 32, 25 and 26 mm), forward kinematics, and joint-space trajectories with polynomial (tpoly) and trapezoidal (lspb) profiles. A second script places the five fingers on their bases to build the hand. Hand-written forward kinematics from DH matrices checks the toolbox results. Three animated GIFs show the finger trajectories.

    Facts

    ItemValue
    Finger link lengths0.032, 0.025 and 0.026 m
    Fingers in the hand model5

    No public repository for this project.