Multifingered robot hand robot operates using teleoperation
The purpose of research on anthropomorphic dextrous manipulation is to develop anthropomorphic dextrous robot hand which approximates the versatility and sensitivity of the human hand by teleoperation methods that will communicate in master– slave manners. Glove operates as master part and multi...
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| Format: | Thesis |
| Language: | English English English |
| Published: |
2011
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/2700/1/24p%20MOHD%20KHAIRUL%20IKHWAN%20AHMAD.pdf http://eprints.uthm.edu.my/2700/2/MOHD%20KHAIRUL%20IKHWAN%20AHMAD%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/2700/3/MOHD%20KHAIRUL%20IKHWAN%20AHMAD%20WATERMARK.pdf |
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| Summary: | The purpose of research on anthropomorphic dextrous manipulation is to develop
anthropomorphic dextrous robot hand which approximates the versatility and
sensitivity of the human hand by teleoperation methods that will communicate in
master– slave manners. Glove operates as master part and multi-fingered hand as
slave. The communication medium between operator and multi-fingered hand is via
KC-21 Bluetooth wireless modules. Multi-fingered hand developed using 5 volt,
298:1 gear ratio micro metal dc motors which controlled using L293D motor drivers
and actuator controlled the movement of robot hand combined with dextrous human
ability by PIC18F4520 microcontroller. The slave components of 5 fingers designed
with 15 Degree of Freedom (DOF) by 3 DOF for each finger. Fingers design, by
modified IGUS 07-16-038-0 enclosed zipper lead E-Chain® Cable Carrier System,
used in order to shape mimic as human size. FLEX sensor, bend sensing resistance
used for both master and slave part and attached as feedback to the system, in order
to control position configuration. Finally, the intelligence, learning and experience
aspects of the human can be combined with the strength, endurance and speed of the
robot in order to generate proper output of this project. |
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