Multifingered robot hand robot operates using teleoperation

• Main Author: Ahmad, Mohd Khairul Ikhwan
• Format: Thesis
• Language: English; English; English
• Published: 2011
• Subjects: TJ Mechanical engineering and machinery; TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
• 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; http://eprints.uthm.edu.my/2700/

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.