Development of anthropomorphic robotic hand driven by Pneumatic Artificial Muscles for robotic applications
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 eac...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
Institute of Physics Publishing
2018
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/23132/1/Development%20of%20anthropomorphic%20robotic%20hand%20driven%20by%20Pneumatic%20Artificial%20Muscles%20for%20robotic%20applications.pdf |
| _version_ | 1825812397449805824 |
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| author | Farag, Mohannad Norsinnira, Zainul Azlan Alsibai, Mohammad Hayyan |
| author_facet | Farag, Mohannad Norsinnira, Zainul Azlan Alsibai, Mohammad Hayyan |
| author_sort | Farag, Mohannad |
| collection | UMP |
| description | 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. |
| first_indexed | 2024-03-06T12:28:33Z |
| format | Conference or Workshop Item |
| id | UMPir23132 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T12:28:33Z |
| publishDate | 2018 |
| publisher | Institute of Physics Publishing |
| record_format | dspace |
| spelling | UMPir231322019-09-04T02:48:47Z http://umpir.ump.edu.my/id/eprint/23132/ Development of anthropomorphic robotic hand driven by Pneumatic Artificial Muscles for robotic applications Farag, Mohannad Norsinnira, Zainul Azlan Alsibai, Mohammad Hayyan T Technology (General) 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. Institute of Physics Publishing 2018 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/23132/1/Development%20of%20anthropomorphic%20robotic%20hand%20driven%20by%20Pneumatic%20Artificial%20Muscles%20for%20robotic%20applications.pdf Farag, Mohannad and Norsinnira, Zainul Azlan and Alsibai, Mohammad Hayyan (2018) Development of anthropomorphic robotic hand driven by Pneumatic Artificial Muscles for robotic applications. In: IOP Conference Series: Materials Science and Engineering: International Conference On Innovative Technology, Engineering And Sciences (ICITES 2018) , 01-02 April 2018 , UMP Library, Pekan. pp. 1-10., 342 (1). ISSN 1757-8981 (Published) http://iopscience.iop.org/article/10.1088/1757-899X/342/1/012052/meta |
| spellingShingle | T Technology (General) Farag, Mohannad Norsinnira, Zainul Azlan Alsibai, Mohammad Hayyan Development of anthropomorphic robotic hand driven by Pneumatic Artificial Muscles for robotic applications |
| title | Development of anthropomorphic robotic hand driven by Pneumatic Artificial Muscles for robotic applications |
| title_full | Development of anthropomorphic robotic hand driven by Pneumatic Artificial Muscles for robotic applications |
| title_fullStr | Development of anthropomorphic robotic hand driven by Pneumatic Artificial Muscles for robotic applications |
| title_full_unstemmed | Development of anthropomorphic robotic hand driven by Pneumatic Artificial Muscles for robotic applications |
| title_short | Development of anthropomorphic robotic hand driven by Pneumatic Artificial Muscles for robotic applications |
| title_sort | development of anthropomorphic robotic hand driven by pneumatic artificial muscles for robotic applications |
| topic | T Technology (General) |
| url | http://umpir.ump.edu.my/id/eprint/23132/1/Development%20of%20anthropomorphic%20robotic%20hand%20driven%20by%20Pneumatic%20Artificial%20Muscles%20for%20robotic%20applications.pdf |
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