Abstract—This research aims to enhance dexterous grasping and manipulation capabilities through a computational approach involving a novel design of a linkage-driven, underactuated, five-fingered robotic hand. Leveraging underactuated mechanisms, the study addresses the complexity associated with individually actuated joints, offering a streamlined and efficient solution for replicating human-like hand movements. The proposed hand comprises 12 actuators and 21° of freedom, emphasizing the need for enhanced adaptability and reduced complexity in replicating human hand movements. Utilizing SolidWorks for mechanical design, Automated Dynamic Analysis of Mechanical Systems (ADAMS) is employed for dynamic simulations, enabling a comprehensive evaluation of the robotic hand’s performance in realistic scenarios. MATLAB is utilized for the required algorithm, and Analysis System (ANSYS) for structural analysis, ensuring the robustness and reliability of the robotic hand under different loading conditions. This approach integrates mechanical engineering principles with advanced simulation tools. The abstract concludes by presenting comprehensive research results, featuring general quantitative data from the entire research process, underscoring the efficacy and applicability of the computational approach in advancing robotic manipulation capabilities.

Keywords—dexterous, five-fingered hand, grasping, linkagedriven, underactuated

Cite: Deepak R. Biswal, Pramod K. Parida, and Alok R. Biswal, "Enhancing Dexterous Grasping and Manipulation through Linkage-Driven Underactuated Five- Fingered Robotic Hand: A Computational Approach," International Journal of Mechanical Engineering and Robotics Research, Vol. 13, No. 5, pp. 548-557, 2024.

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