Dynamic Analysis on Fingers of the Underwater Multi-fingered Robot Hand

The dynamics is very important for the simulation and feedback-control design of the underwater-multi-fingered robot hand. But the dynamic of underwater- multi-fingered robot hand with many degrees of freedom is much more complicated if hydrodynamic terms are precisely treated, so the finger dynamics of underwater multi-fingered robot hand are analysed in the paper, and the precise dynamics model is established considering the drag force and added-mass force. What's more, dynamic simulation is carried out by SimMechanics. The simulation result shows: the hydrodynamics forces are the most significant in magnitude, and the dynamic motion control must consider these parameters.