A numerical simulation of the grasp operation by LARM Hand IV: A three finger robotic hand

This paper describes the development of a grasping model for LARM Hand IV. This is a robotic hand having three 1-DOF anthropomorphic fingers that has been designed and built at LARM: Laboratory of Robotics and Mechatronics in Cassino. Numerical simulations have been carried out in MSC.ADAMS environment for investigating and characterizing grasping characteristic of LARM Hand IV. In addition, control algorithms have been tested for regulating the grasp force that is provided by each finger in order to achieve a suitable firm grasp even in dynamic conditions.