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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, Norsinnira, Zainul Azlan, Alsibai, Mohammad Hayyan
Format: Conference or Workshop Item
Language:English
Published: Institute of Physics Publishing 2018
Subjects:
T Technology (General)
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
http://umpir.ump.edu.my/id/eprint/23132/
http://iopscience.iop.org/article/10.1088/1757-899X/342/1/012052/meta
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spelling my.ump.umpir.231322019-09-04T02:48:47Z 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 http://iopscience.iop.org/article/10.1088/1757-899X/342/1/012052/meta
institution Universiti Malaysia Pahang
building UMP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang
content_source UMP Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
topic T Technology (General)
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
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
Norsinnira, Zainul Azlan
Alsibai, Mohammad Hayyan
author_facet Farag, Mohannad
Norsinnira, Zainul Azlan
Alsibai, Mohammad 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://umpir.ump.edu.my/id/eprint/23132/1/Development%20of%20anthropomorphic%20robotic%20hand%20driven%20by%20Pneumatic%20Artificial%20Muscles%20for%20robotic%20applications.pdf
http://umpir.ump.edu.my/id/eprint/23132/
http://iopscience.iop.org/article/10.1088/1757-899X/342/1/012052/meta
_version_ 1646017382509969408
score 13.211869

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