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Development of anthropomorphic robotic hand driven by Pneumatic Artificial muscles for robotic applications

Farag, Mohannad and Zainul Azlan, Norsinnira and Alsibai, Mohammed Hayyan (2018) Development of anthropomorphic robotic hand driven by Pneumatic Artificial muscles for robotic applications. In: International Conference on Innovative Technology, Engineering and Sciences 2018, iCITES 2018, 1 - 2 March 2018, Universiti Malaysia Pahang (UMP) Pekan Campus LibraryPekan, Pahang; Malaysia.

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Abstract

This paper presents the design and fabrication of a three-fingered anthropomorphic robotic hand. The fingers are driven by tendons and actuated by human muscle-like actuators known as Pneumatic Artificial Muscle (PAM). The proposed design allows the actuators to be mounted outside the hand where each finger can be driven by one PAM actuator and six indirectly interlinked tendons. With this design, the three-fingered hand has a compact size and a lightweight with a mass of 150.25 grams imitating the human being hand in terms of size and weight. The hand also successfully grasped objects with different shapes and weights up to 500 g. Even though the number of PAM actuators equals the number of Degrees of Freedom (DOF), the design guarantees driving of three joints by only one actuator reducing the number of required actuators from 3 to 1. Therefore, this hand is suitable for researches of robotic applications in terms of design, cost and ability to be equipped with several types of sensors.

Item Type: Conference or Workshop Item (Plenary Papers)
Additional Information: 4494/65518
Uncontrolled Keywords: Anthropomorphic robotic; Hand driven; Robotic applications
Subjects: Q Science > QA Mathematics
Q Science > QA Mathematics > QA76 Computer software
T Technology > TJ Mechanical engineering and machinery
Kulliyyahs/Centres/Divisions/Institutes: Kulliyyah of Engineering
Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Norsinnira Zainul Azlan
Date Deposited: 08 Aug 2018 16:36
Last Modified: 08 Aug 2018 16:36
URI: http://irep.iium.edu.my/id/eprint/65518

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