Conceptual Design and Kinematic Analysis of a 5-Fingered Anthropomorphic Robotic Hand Pramod Kumar Parida 1 , B. B. Biswal 2 and Rabindra Narayan Mahapatra 3 1 National Institute of Technology, Rourkela, Odisha, India, pramodparida71@yahoo.com 2 NationalInstitute of Technology, Rourkela, Odisha, India, bbbiswal@nitrkl.ac.in 3 ITER,SOA University, Bhubaneswar, Odisha, India, rnm26@rediffmail.com Abstract Handling of objects with irregular shapes and that of flexible/soft objects by ordinary robot grippers is difficult. It is required that various objects with different shapes or sizes could be grasped and manipulated by one robot hand mechanism for the sake of factory automation and labour saving. Dexterous grippers will be the appropriate solution to such problems. Corresponding to such needs, we have developed an articulated mechanical hand with five fingers and twenty five degrees-of-freedom which has an improved grasp capability. Since the developed hand is possible to envelope and grasp an object mechanically, it can be used easily and widely in the factory and for medical rehabilitation purpose. This work presents the conceptual design and the kinematic analysis of such a hand. Keywords Multi-fingered gripper, Anthropomorphic, Kinematics, Simulation. 1 Introduction Hand is one of the most complex organs of the human body from the dexterity and kinematic point of view. Most of the studies in this area refer to the categorization and study of six grasps: cylindrical, fingertip, hook, palmar, spherical and lateral, as in [1] and [2]. Dexterity is the first requirement for the robot hand. The multi- fingered robot hand acts as a multipurpose gripping device for various tasks. Some important multi-fingered hands are Utah/MIT hand [3], DLR hand [4], Shadow Dexterous Hand [5], Robonaut hand [6], NAIST-Hand [7] and Gifu hand [8]. Such a hand provides a promising base for supplanting human hand in execution of tedious, complicated and dangerous tasks, more precisely than a human hand, especially in situations such as manufacturing, space, undersea etc.These robot hands are helpful for the patients who are partially paralyzed due to neurological or orthopedic damages [9]. All the hands developed by previous researchers have limited flexibility due to less number of degrees of freedom (DoFs) incorporated. In order to enhance the flexibility of the hand the present work considers the anatomy of the human hand and considers 25 DoFs and the two DoFs in the wrist