Workspace analysis of the underwater dexterous hand

This paper describes the present research work on IUDH underwater dexterous hand equipped with three fingers, six joints and four actuators, Which has been development at Anhui Polytechnic University and Hefei Institute of Intelligent Machine of Chinese Academy of Science. According to structure of IUDH, Every finger kinematics equations formulations for determining the boundary to manipulator are derived, by employing Denavit-Hartenberg representation. Further, every fingertip motion envelopment space is mapped. Moreover, volume and size of objects grasped by IUDH is certified. Thus, structure and geometric parameters of the hand are demonstrated and abilities for grasping objects are validated.