| Summary: | 碩士 === 國立臺灣大學 === 機械工程學研究所 === 97 === The purposes of this research are modeling a human finger alike articulated tendon-driven manipulator which can represent human finger on kinematic structure, and finding out the kinematic characteristics of human fingers. By studying anatomy and muscle dynamics, this research has recognizing the tendon position and function, and the connection with phalanx and joint. This research assumes the motions of human fingers are independent, than the kinematic structures of finger can be simplified. In accordance with these assumptions, the kinematic model will be created. This model could present the major function and kinematic of human fingers and find the characteristics of pulleys of tendon-driven manipulator by studying the structure matrix of this kinematic model. Finally this research synthesize the pulleys of dimensions tendon-driven manipulator using the condition of isotropic transmission characteristics. This research establishes design criteria for finger alike articulated manipulator.
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