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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主要作者: Ahmad, Mohd Khairul Ikhwan
格式: Thesis
語言:English
English
English
出版: 2011
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spelling my.uthm.eprints.27002021-11-01T04:49:39Z http://eprints.uthm.edu.my/2700/ Multifingered robot hand robot operates using teleoperation Ahmad, Mohd Khairul Ikhwan TJ Mechanical engineering and machinery TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) 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. 2011-07 Thesis NonPeerReviewed text en http://eprints.uthm.edu.my/2700/1/24p%20MOHD%20KHAIRUL%20IKHWAN%20AHMAD.pdf text en http://eprints.uthm.edu.my/2700/2/MOHD%20KHAIRUL%20IKHWAN%20AHMAD%20COPYRIGHT%20DECLARATION.pdf text en http://eprints.uthm.edu.my/2700/3/MOHD%20KHAIRUL%20IKHWAN%20AHMAD%20WATERMARK.pdf Ahmad, Mohd Khairul Ikhwan (2011) Multifingered robot hand robot operates using teleoperation. Masters thesis, Universiti Tun Hussein Malaysia.
institution Universiti Tun Hussein Onn Malaysia
building UTHM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Tun Hussein Onn Malaysia
content_source UTHM Institutional Repository
url_provider http://eprints.uthm.edu.my/
language English
English
English
topic TJ Mechanical engineering and machinery
TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
spellingShingle TJ Mechanical engineering and machinery
TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
Ahmad, Mohd Khairul Ikhwan
Multifingered robot hand robot operates using teleoperation
description 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.
format Thesis
author Ahmad, Mohd Khairul Ikhwan
author_facet Ahmad, Mohd Khairul Ikhwan
author_sort Ahmad, Mohd Khairul Ikhwan
title Multifingered robot hand robot operates using teleoperation
title_short Multifingered robot hand robot operates using teleoperation
title_full Multifingered robot hand robot operates using teleoperation
title_fullStr Multifingered robot hand robot operates using teleoperation
title_full_unstemmed Multifingered robot hand robot operates using teleoperation
title_sort multifingered robot hand robot operates using teleoperation
publishDate 2011
url 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/
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score 13.250246