Design and control of a multifingered anthropomorphic robotic hand / Ahmed Jaffar ... [et al.]

Ahmed, Jaffar and Bahari, Mohd Bahari and Cheng, Yee Low and Jaafar, Roseleena (2011) Design and control of a multifingered anthropomorphic robotic hand / Ahmed Jaffar ... [et al.]. International Journal of Mechanical & Mechatronics Engineering, 11 (4). pp. 24-31.

Abstract

This work describes a multifingered anthropomorphic robotic hand with fourteen degrees of freedom which is able to mimic the functional motions of a biological hand especially in handling complex objects. The actuation mechanisms consisting of micro servo-motors, pulleys and belts are connected to the finger joints and thereby bending and extending the fingers. Two kinds of sensors, i.e. force sensor and light dependent resistor, are integrated into the system. The robotic hand can be controlled via a graphical user interface embedded with control codes or a joy stick integrated with a control board. Furthermore, the robotic hand is able to operate autonomously with the aid of the sensory elements and the embedded control software. Workability tests showed the capability of the system to move every finger individually and to perform grasping tasks on objects with varying sizes and geometries such as a tennis ball and a screw driver.

Metadata

Item Type: Article
Creators:
Creators
Email / ID Num.
Ahmed, Jaffar
UNSPECIFIED
Bahari, Mohd Bahari
UNSPECIFIED
Cheng, Yee Low
UNSPECIFIED
Jaafar, Roseleena
UNSPECIFIED
Subjects: T Technology > TJ Mechanical engineering and machinery > Mechanical devices and figures. Automata. Ingenious mechanisms.Robots (General)
T Technology > TJ Mechanical engineering and machinery > Robotics. Robots. Manipulators (Mechanism)
Divisions: Universiti Teknologi MARA, Shah Alam > Faculty of Mechanical Engineering
Journal or Publication Title: International Journal of Mechanical & Mechatronics Engineering
Volume: 11
Number: 4
Page Range: pp. 24-31
Keywords: Robotic hand, degree of freedom, mechanism
Date: 2011
URI: https://ir.uitm.edu.my/id/eprint/66872
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