Finger Kinematics:
Z
W
Z
k1
X
k1
Z
k 2
Z
k3
X
k 3
Z
kT
X
kT
Φ
3
Φ
2
A
1
A
2
Θ
k 2
Θ
k3
Θ
k1
X
k2
A
3
D
3
D
w
X
W
A
w
Figure 37 - D-H Frame Assignment for Generalized Finger
Table 9 - D-H Link Parameters for Fingers
Joint
A
i-1
α
α
α
α
i-1
D
i
θ
θθ
θ
i
1
r * A
w
0
D
w
r *
Θ
k1
– (
π
/ 2) * j
2
A
1
π
/2
0
Θ
k2
+
Φ
2
3
A
2
0
0
Θ
k3
+
Φ
3
4
A
3
-
π
/2
D
3
0
Where: “k” is defined as the desired finger [1,2,3].
“r” is either [-1,1,0] for [F1,F2,F3] respectively.
“j” is either [1,1,-1] for [F1,F2,F3] respectively.
The transforms from each axis to the next can be determined using the homogeneous transform in
Equation 1 and finger link parameters in Table 9. Each of the first three link parameters are fixed
and the fourth one is configuration dependent on one of the position variables
Θ
k1
,
Θ
k2
, or
Θ
k3
for
the first three joints.
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