Modeling and verification of spring loaded robotic finger mechanism

Researches on Dynamic Model of robotic finger mechanisms are widely carried out for variety of tasks such as grasping and manipulation of objects. In this paper, a dynamic Model of robotics spring loaded finger mechanism is proposed based on the biological equivalence of human hand. The Lagrangian method was used to derive the dynamics for the proposed Mathematical Model of robotic finger mechanisms. The model is implemented in MATLAB-SIMULINK. Practical experiment is done to verify the model. The experimental results show good agreement with the theoretical ones.