Design and Kinematic Analysis of a Two-Phalange Robotic Gripper for Dexterous Manipulation

This study focuses on the modelling and evaluation of a two-phalange robotic manipulator developed for dexterous grasping tasks, inspired by the kinematic and dynamic behaviour of the human arm. The proposed manipulator is capable of accurately interacting with objects of different shapes, sizes, and surface textures, making it highly suitable for applications requiring adaptability and precise motion control. A comprehensive mathematical model is formulated enabling accurate trajectory planning and motion control of the phalanges. Simulation results confirm the manipulator's ability to perform stable, adaptive, and reliable grasping under varying dynamic conditions. Important performance parameters such as dexterity, positional accuracy, and energy efficiency are considered to evaluate the effectiveness of the design. The outcomes of this research highlight the potential use of the manipulator in areas including prosthetic devices, industrial automation, and service robotics. Overall, the work contributes to the advancement of robotic grasping technologies and supports improved human–robot interaction through enhanced adaptability, efficiency, and user-oriented robotic functionality.