Multi fingered robotic hand in industrial robotic applications using tele-operation

Mohd Zaid, Amran and Hanafi, Dirman and Wibowo, Ignatius Agung and Zakaria, Mohamad Fauzi and Ribuan , Mohamed Najib and Mashori, Sumaiya and Yaqub, Muhammad Atif (2012) Multi fingered robotic hand in industrial robotic applications using tele-operation. Other thesis, Universiti Tun Hussein Onn Malaysia.

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Abstract

This research focuses on the working and development of wireless robotic hand system. In this research previously developed models have been studied. After analysis of those models, a better approach has been presented in this research. The objective of this research is to design and develop a tele-operated robotic hand system. The robotic hand is intended for providing solutions to industrial problems like robot reprogramming, industrial automation and replacement for the workers working in hostile environments. The robotic hand system works in the master slave configuration where Bluetooth is being used as the communication channel for the tele-operation. The master is a glove, embedded with sensors to detect the movement of every joint present in the hand, which a human operator can wear. This joint movement is transferred to the slave robotic hand which will mimic the movement of human operator. The robotic hand is a multi fingered dexterous and anthropomorphic hand. The hand is designed by using commercially available version of SolidWorkBOIO. The robotic hand comprises of five fingers (four fingers and one thumb), each having four degrees of fieedom @OF). All the fingers are capable of performing flexion, extension, abduction, adduction and hence circumduction. A new combination of pneumatic muscles and springs has been used for the actuation purpose. This combination reduces the size of the robotic hand by decreasing the number of pneumatic muscles used. The pneumatic muscles are controlled by the opening and closing of solenoid valves. A novel technique has been used in the robotic hand for tendon routing, which gives the ability of independence to all finger joints. Each of the finger joints can bend independently. The heart of all the control mechanism is rnbed microcontroller. The sensors used in the glove for sensing the joint angles are BendSensors. The controller processes the angles provided by these sensors and hen transmit to the robotic hand. The robotic hand also has mbed microcontrolIer to acquire the angles from master and control the opening and closing of solenoid valves according to the required angle.

Item Type:Thesis (Other)
Subjects:T Technology > TJ Mechanical engineering and machinery > TJ210.2-211 Mechanical devices and figures. Automata. Ingenious mechanisms.
ID Code:6894
Deposited By:Normajihan Abd. Rahman
Deposited On:10 May 2015 16:36
Last Modified:10 May 2015 16:36

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