To improve the operating performance of robots� end-effector, a humanoid robot hand based on coupling four-bar linkage\nwas designed. An improved transmission system was proposed for the base joint of the thumb. Thus, a far greater\nmotion range and more reasonable layout of the palm were obtained. Moreover, the mathematical model for kinematics\nsimulation was presented based on the Assur linkage group theory to verify and optimize the proposed structure. To\nresearch the motion relationships between the fingers and the object in the process of grasping object, the grasping analysis\nof multi-finger manipulation was presented based on contact kinematics. Finally, a prototype of the humanoid robot\nhand was produced by a three-dimensional printer, and a kinematics simulation example and the workspace solving of\nthe humanoid robot hand were carried out. The results showed that the velocities of finger joints approximately met\nthe proportion relationship 1:1:1, which accorded with the grasping law of the human hand. In addition, the large workspace,\nreasonable layout, and good manipulability of the humanoid robot hand were verified.
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