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Abstract:
In this paper we deal with the design and development of a Four Fingered Robotic Hand (FFRH) using 8-bit microcontroller, sensors and wireless feedback. The design of the system is based on a simple, flexible and minimal control strategy. The robot system has 14 independent commands for all the four fingers open and close, wrist up and down, base clockwise and counter clockwise, Pick and Place and Home position to move the fingers. Implementation of pick and place operation of the object using these commands are discussed. The mechanical hardware design of the Robotic hand based on connected double revolute joint mechanisms is briefed. The tendoning system of the double revolute joint mechanism and wireless feedback network provide the hand with the ability to confirm to object topology and therefore providing the advantage of using a simple control algorithm. Finally, the results of the experimental work for pick and place application are enumerated.
Robotics is an hodgepodge of topics, including geometric transforms, control theory, real time operating systems, DC and stepper motors, and digital signal processing etc. A Robot is a reprogrammable, multifunction manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks. Robots can be classified according to their method of control pathway, structural design, or level of technology. The two major types of control are servo and non-servo. The path way of the robot may be either point- to-point or continuous. The volume of the workspace of a robot is rectangular, cylindrical, spherical, or jointed spherical. Finally, a robot may be classified as low-, medium-, or high-tech, based on its number of axes and its level of sophistication in respect of end effectors and grippers. The gripper is similar to the human hand just as the hand grasps the tool to perform the work the gripper grasps and secures the robot’s work piece while the operation is being performed.
A robotic hand is an electro-mechanical system comprised of many parts. The two main parts to such a device are the electrical components and the mechanical structure that allows motion. Human hand is one of the most complex organs of the human body after brain, thus, we understand why its behaviour had intensively interested former philosophers, and in the past decades has been object of study and research not only in the medical field but also in the engineering field. Earlier research work relating to the development of robot hands is based on general purpose end-effectors by using the human hand as inspiration. In many of these configurations, the robot hand has the same kinematic structure as a human hand, and can independently control the joints of each finger. Examples for such robot hand are the Utah/MIT hand [1], the Salisbury hand[2], fivedigit hand at University of Belgrade[3,4], grasping device designed by the University of Pennsylvania[5]. In most cases, the fingers are actuated through antagonistic tendons routing to a motor for each finger joints. The difficulty with these flexible mechanisms is that one must compute a desired position or torque for each joint of each finger. A four-fingered hand with three joints on each finger would require twelve desired positions or torques to be computed for control. This flexibility is needed for manipulation, but for grasping, the robot does not necessarily need to have independent control of all of the finger joints. Therefore, many researchers have been investigating and building hands with fewer controllable degrees-offreedom and more compliance to object shape. Renssclear Polytechnic Institute has also implemented a robotic grasping device where each finger has two controllable degrees of freedom, requiring a total of 6 motors to drive a three-fingered hand [3]. This hand also uses an antagonistic tendoning system, but it has more controllable degrees of freedom that must be individually controlled. The main object of this paper is to design and implement a Four Fingered Robotic Hand (FFRH) for providing a simple reflexive grasp that can be utilized for a wide variety of objects. The FFRH is designed based on servo, point-to-point, and cylindrical robot structure with four-pronged grippers(four fingers).This approach is focusing primarily on the task of grasping objects of different shapes and not that of manipulating or assembling objects. This type of a grasping device has a variety of applications in object retrieval systems for the handicapped, planetary, underwater exploration and robotic surgery. To fulfill the objective, authors designed a new general purpose FFRH that grasps a wide variety of objects with possibly complex shapes, adjusts the grasp using a feedback and if unexpected external forces cause the object to slip during grasping, and has a simple control scheme that has 14 independent commands for fingers, wrist and base including pick and place. Grasping various objects requires generic end-effectors for the robot manipulation system. Most general purpose grippers are anthropomorphic and mimic human hands. This is because human hands are the most nimble and flexible manipulation system in existence, and because many objects are designed for human use. Therefore, a robot hand designed to have size and force generation capabilities similar to a human and can be expected to manipulate many existing objects. The hand, however, is not to manipulate objects, but only to grasp objects reliably. Therefore, there is no need of all the complex characteristics of the human hand or many existing anthropomorphic robot hands.