Robotic Hand Model – Multibody, Multi-Domain Physical Model in MapleSim – Maplesoft

Robotic Hand Model

In this model, Multibody components are used to model a dextrous hand. Each finger has three actuated degrees of freedom (except for the thumb which has only two). The 6 DOFs of the hand are also actuated (translational/angular position drivers). The model includes contact between a sphere and various parts of the hand. For contact modeling, the Palm is modeled as a box and the fingers are made of two or three cylindrical sections.
This model was created with MapleSim 2022.1

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Model Images
  • img_3d 3D visualization of the results
  • img_model MapleSim model of robotic hand
  • img_subsystem Subsystem for middle finger
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