Development of a sensory system for a mechanical linked adult finger / Warhamni Abdul Kadir

The aim of this thesis is to develop a sensory system to be modeled together with a mechanical linked adult finger prototype in order to sense the softness and hardness of a surface. The mechanical linked adult finger has a 3 Degrees-of-Freedom (DOF) with three links driven by an actuator through a...

Full description

Saved in:

Bibliographic Details
Main Author:	Abdul Kadir, Warhamni
Format:	Thesis
Language:	English
Published:	2010
Subjects:	Machine construction (General)
Online Access:	https://ir.uitm.edu.my/id/eprint/68123/1/68123.pdf
Tags:	Add Tag No Tags, Be the first to tag this record!

id	my-uitm-ir.68123
record_format	uketd_dc
spelling	my-uitm-ir.681232022-10-06T23:58:48Z Development of a sensory system for a mechanical linked adult finger / Warhamni Abdul Kadir 2010 Abdul Kadir, Warhamni Machine construction (General) The aim of this thesis is to develop a sensory system to be modeled together with a mechanical linked adult finger prototype in order to sense the softness and hardness of a surface. The mechanical linked adult finger has a 3 Degrees-of-Freedom (DOF) with three links driven by an actuator through a pulley system designed using a Computer Aided Design (CAD) software; CATIA® v5. A working model using Stereolithography Rapid Prototyping (RP) technique was fabricated to demonstrate the working function of the finger. A servomotor was programmed to control both the flexion and extension movement for the mechanical linked adult finger using PIC16F877A microcontroller. A 0.2mm thin film Force Sensing Resistor (FSR) tactile sensor with a sensing area of 9.5mm has the ability of sensing force ranges up to HON, was placed at the tip of the prototype finger. In addition, the use of C-software; MPLAB® to write and compile the codes helped to ease the process of designing the applications for the controller. Both the servomotor and the tactile FSR sensor were successfully integrated into one controller board which was used to demonstrate the model's functionality. As a result, the flexionextension movement established from the model had almost the same range of movement to a human finger while the FSR tactile sensor on the other hand was able to give load value for an object surface in contact The model however, still requires further work and upgrading on its sensory system to enhance and improve its functionality. 2010 Thesis https://ir.uitm.edu.my/id/eprint/68123/ https://ir.uitm.edu.my/id/eprint/68123/1/68123.pdf text en public degree Universiti Teknologi MARA (UiTM) Faculty of Mechanical Engineering Jaafar, Roseleena
institution	Universiti Teknologi MARA
collection	UiTM Institutional Repository
language	English
advisor	Jaafar, Roseleena
topic	Machine construction (General)
spellingShingle	Machine construction (General) Abdul Kadir, Warhamni Development of a sensory system for a mechanical linked adult finger / Warhamni Abdul Kadir
description	The aim of this thesis is to develop a sensory system to be modeled together with a mechanical linked adult finger prototype in order to sense the softness and hardness of a surface. The mechanical linked adult finger has a 3 Degrees-of-Freedom (DOF) with three links driven by an actuator through a pulley system designed using a Computer Aided Design (CAD) software; CATIA® v5. A working model using Stereolithography Rapid Prototyping (RP) technique was fabricated to demonstrate the working function of the finger. A servomotor was programmed to control both the flexion and extension movement for the mechanical linked adult finger using PIC16F877A microcontroller. A 0.2mm thin film Force Sensing Resistor (FSR) tactile sensor with a sensing area of 9.5mm has the ability of sensing force ranges up to HON, was placed at the tip of the prototype finger. In addition, the use of C-software; MPLAB® to write and compile the codes helped to ease the process of designing the applications for the controller. Both the servomotor and the tactile FSR sensor were successfully integrated into one controller board which was used to demonstrate the model's functionality. As a result, the flexionextension movement established from the model had almost the same range of movement to a human finger while the FSR tactile sensor on the other hand was able to give load value for an object surface in contact The model however, still requires further work and upgrading on its sensory system to enhance and improve its functionality.
format	Thesis
qualification_level	Bachelor degree
author	Abdul Kadir, Warhamni
author_facet	Abdul Kadir, Warhamni
author_sort	Abdul Kadir, Warhamni
title	Development of a sensory system for a mechanical linked adult finger / Warhamni Abdul Kadir
title_short	Development of a sensory system for a mechanical linked adult finger / Warhamni Abdul Kadir
title_full	Development of a sensory system for a mechanical linked adult finger / Warhamni Abdul Kadir
title_fullStr	Development of a sensory system for a mechanical linked adult finger / Warhamni Abdul Kadir
title_full_unstemmed	Development of a sensory system for a mechanical linked adult finger / Warhamni Abdul Kadir
title_sort	development of a sensory system for a mechanical linked adult finger / warhamni abdul kadir
granting_institution	Universiti Teknologi MARA (UiTM)
granting_department	Faculty of Mechanical Engineering
publishDate	2010
url	https://ir.uitm.edu.my/id/eprint/68123/1/68123.pdf
_version_	1783735756327485440

Development of a sensory system for a mechanical linked adult finger / Warhamni Abdul Kadir

Similar Items