Robotic Hand Model MapleSim Model - Robotic Hand Model S-Function - MapleSim Model Gallery

Robotic Hand Model

In this model, Multibody components are used to model a dextrous hand. Each finger has there actuated degrees of freedom (except for the thumb which has only two). The 6 DOFs of the hand is also actuated (translational/angular position drivers). The model includes contact between a sphere and various parts of the hand. For contact modeling, the Palm is modeled as a box and the fingers are made of two or three cylindrical sections.
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Model Images
  • model diagram Model diagram showing the palm and fingers of the hand, along with the ball
  • subsystem Subsystem view of the pinky finger
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