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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...

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Main Authors: Farag, Mohannad, Zainul Azlan, Norsinnira, Alsibai, Mohammed Hayyan
Format: Conference or Workshop Item
Language:English
English
Published: Institute of Physics Publishing 2018
Subjects:
QA Mathematics
QA76 Computer software
TJ Mechanical engineering and machinery
Online Access:http://irep.iium.edu.my/65518/1/65518_Development%20of%20anthropomorphic%20robotic%20hand%20driven_conference%20article.pdf
http://irep.iium.edu.my/65518/2/65518_Development%20of%20anthropomorphic%20robotic%20hand%20driven_scopus.pdf
http://irep.iium.edu.my/65518/
http://iopscience.iop.org/article/10.1088/1757-899X/342/1/012052/meta
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spelling my.iium.irep.655182018-08-08T08:36:58Z http://irep.iium.edu.my/65518/ Development of anthropomorphic robotic hand driven by Pneumatic Artificial muscles for robotic applications Farag, Mohannad Zainul Azlan, Norsinnira Alsibai, Mohammed Hayyan QA Mathematics QA76 Computer software TJ Mechanical engineering and machinery 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 2018-04-06 Conference or Workshop Item NonPeerReviewed application/pdf en http://irep.iium.edu.my/65518/1/65518_Development%20of%20anthropomorphic%20robotic%20hand%20driven_conference%20article.pdf application/pdf en http://irep.iium.edu.my/65518/2/65518_Development%20of%20anthropomorphic%20robotic%20hand%20driven_scopus.pdf 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. http://iopscience.iop.org/article/10.1088/1757-899X/342/1/012052/meta 10.1088/1757-899X/342/1/012052
institution Universiti Islam Antarabangsa Malaysia
building IIUM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider International Islamic University Malaysia
content_source IIUM Repository (IREP)
url_provider http://irep.iium.edu.my/
language English
English
topic QA Mathematics
QA76 Computer software
TJ Mechanical engineering and machinery
spellingShingle QA Mathematics
QA76 Computer software
TJ Mechanical engineering and machinery
Farag, Mohannad
Zainul Azlan, Norsinnira
Alsibai, Mohammed Hayyan
Development of anthropomorphic robotic hand driven by Pneumatic Artificial muscles for robotic applications
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.
format Conference or Workshop Item
author Farag, Mohannad
Zainul Azlan, Norsinnira
Alsibai, Mohammed Hayyan
author_facet Farag, Mohannad
Zainul Azlan, Norsinnira
Alsibai, Mohammed Hayyan
author_sort Farag, Mohannad
title 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_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_sort development of anthropomorphic robotic hand driven by pneumatic artificial muscles for robotic applications
publisher Institute of Physics Publishing
publishDate 2018
url http://irep.iium.edu.my/65518/1/65518_Development%20of%20anthropomorphic%20robotic%20hand%20driven_conference%20article.pdf
http://irep.iium.edu.my/65518/2/65518_Development%20of%20anthropomorphic%20robotic%20hand%20driven_scopus.pdf
http://irep.iium.edu.my/65518/
http://iopscience.iop.org/article/10.1088/1757-899X/342/1/012052/meta
_version_ 1643617599601246208
score 13.211869

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