Multi fingered robot hand in industrial robot application using tele-operation

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...

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Main Author:	Yaqub, Muhammad Atif
Format:	Thesis
Language:	English English English
Published:	2013
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.uthm.edu.my/1986/1/24p%20MUHAMMAD%20ATIF%20YAQUB.pdf http://eprints.uthm.edu.my/1986/2/MUHAMMAD%20ATIF%20YAQUB%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/1986/3/MUHAMMAD%20ATIF%20YAQUB%20WATERMARK.pdf
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id	my-uthm-ep.1986
record_format	uketd_dc
spelling	my-uthm-ep.19862021-10-14T05:51:51Z Multi fingered robot hand in industrial robot application using tele-operation 2013-10 Yaqub, Muhammad Atif TJ Mechanical engineering and machinery TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) 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 safety of 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. 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. As a result, 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. The heart of all the control mechanism of the system is mbed microcontroller. The designed system was tested at different module levels. The results show the successful establishment of communication between master and slave at a rate of 10 packets per second, which was sufficient for smooth motion of the system. The amount of torque produced at all the joints in the robotic hand has been presented in this research. The posture tests have been performed in which two fingers were actuated which followed the master. This system has achieved motion of fingers without any tendon coupling problem. The system is able to replace the human industrial workers performing dexterous tasks. 2013-10 Thesis http://eprints.uthm.edu.my/1986/ http://eprints.uthm.edu.my/1986/1/24p%20MUHAMMAD%20ATIF%20YAQUB.pdf text en public http://eprints.uthm.edu.my/1986/2/MUHAMMAD%20ATIF%20YAQUB%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/1986/3/MUHAMMAD%20ATIF%20YAQUB%20WATERMARK.pdf text en validuser mphil masters Universiti Tun Hussein Onn Malaysia Fakulti Kejuruteraan Elektrik dan Elektronik
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English English English
topic	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery TJ Mechanical engineering and machinery Yaqub, Muhammad Atif Multi fingered robot hand in industrial robot application using tele-operation
description	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 safety of 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. 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. As a result, 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. The heart of all the control mechanism of the system is mbed microcontroller. The designed system was tested at different module levels. The results show the successful establishment of communication between master and slave at a rate of 10 packets per second, which was sufficient for smooth motion of the system. The amount of torque produced at all the joints in the robotic hand has been presented in this research. The posture tests have been performed in which two fingers were actuated which followed the master. This system has achieved motion of fingers without any tendon coupling problem. The system is able to replace the human industrial workers performing dexterous tasks.
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Yaqub, Muhammad Atif
author_facet	Yaqub, Muhammad Atif
author_sort	Yaqub, Muhammad Atif
title	Multi fingered robot hand in industrial robot application using tele-operation
title_short	Multi fingered robot hand in industrial robot application using tele-operation
title_full	Multi fingered robot hand in industrial robot application using tele-operation
title_fullStr	Multi fingered robot hand in industrial robot application using tele-operation
title_full_unstemmed	Multi fingered robot hand in industrial robot application using tele-operation
title_sort	multi fingered robot hand in industrial robot application using tele-operation
granting_institution	Universiti Tun Hussein Onn Malaysia
granting_department	Fakulti Kejuruteraan Elektrik dan Elektronik
publishDate	2013
url	http://eprints.uthm.edu.my/1986/1/24p%20MUHAMMAD%20ATIF%20YAQUB.pdf http://eprints.uthm.edu.my/1986/2/MUHAMMAD%20ATIF%20YAQUB%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/1986/3/MUHAMMAD%20ATIF%20YAQUB%20WATERMARK.pdf
_version_	1747830893393739776

Multi fingered robot hand in industrial robot application using tele-operation

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