This report deals with the development of a wireless tele-operated robotic hand system, intended for providing solutions to industrial problems like robot reprogramming, industrial automation and safety of the workers working in hostile environments.
The robotic hand system works in the master slave configuration where Bluetooth is being used as the communication channel for the tele-operation.
The master is a glove, embedded with sensors to detect the movement of every joint present in the hand, which a human operator can wear. This joint movement is transferred to the slave robotic hand which will mimic the movement of human operator. The robotic hand is a multi-fingered dexterous and anthropomorphic hand.
All the fingers are capable of performing flexion, extension, abduction, adduction and hence circumduction. A new combination of pneumatic muscles and springs has been used for the actuation purpose. As a result, this combination reduces the size of the robotic hand by decreasing the number of pneumatic muscles used. The pneumatic muscles are controlled by the opening and closing of solenoid valves.
A novel technique has been used in the robotic hand for tendon routing, which gives the ability of independence to all finger joints.
The heart of all the control mechanism of the system is mbed microcontroller in a system that controls the robot hand in a master slave configuration, in which the master – a glove a human will wear and move in – and thus control the slave movement.
The glove containing sensors will detect the movement and transfer that motion in the form of digital data to the robotic hand which will mimic that movement. The master slave communication is through a Bluetooth channel. The size of the robotic hand is about that of an actual human hand.
SolidWorks 2010 is used to design and simulate the mechanical design of robotic hand and the Mbed LPC 1768 rapid prototyping board is used to control robotic hand as well as the communication flow between the master and slave devices.
The designed system was tested at different module levels. The results show the successful establishment of communication between master and slave at a rate of 10 packets per second, which was sufficient for smooth motion of the system. The system is able to replace the human industrial workers performing dexterous tasks.
To read this external content in full, download the complete paper from the author archives at Tun Hussein Onn University. http://eprints.uthm.edu.my/3383/1/MUHAMMAD_ATIF_YAQUB.pdf