Cover Image

Development Of Finger Type Tactile Sensor With Surface Roughness Analysis

This research is focused on the development of finger type tactile sensor with surface roughness analysis.Among various human sensations like hearing,sight,taste and smell,touch is a critical co-existing sensation required to interact with surrounding environment.Therefore,it is believed that a good...

Full description

Saved in:
Bibliographic Details
Main Author: Abd Rashid, Shafiyah
Format: Thesis
Language:English
English
Published: 2018
Subjects:
T Technology (General)
TA Engineering (General). Civil engineering (General)
Online Access:http://eprints.utem.edu.my/id/eprint/23337/1/Development%20Of%20Finger%20Type%20Tactile%20Sensor%20With%20Surface%20Roughness%20Analysis.pdf
http://eprints.utem.edu.my/id/eprint/23337/2/Development%20Of%20Finger%20Type%20Tactile%20Sensor%20With%20Surface%20Roughness%20Analysis.pdf
http://eprints.utem.edu.my/id/eprint/23337/
http://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=112297
Tags: Add Tag
No Tags, Be the first to tag this record!
id my.utem.eprints.23337
record_format eprints
spelling my.utem.eprints.233372022-02-16T12:13:12Z http://eprints.utem.edu.my/id/eprint/23337/ Development Of Finger Type Tactile Sensor With Surface Roughness Analysis Abd Rashid, Shafiyah T Technology (General) TA Engineering (General). Civil engineering (General) This research is focused on the development of finger type tactile sensor with surface roughness analysis.Among various human sensations like hearing,sight,taste and smell,touch is a critical co-existing sensation required to interact with surrounding environment.Therefore,it is believed that a good understanding between the touch and surface roughness have potential benefits to the performance of the finger type tactile sensor robot.Even though there is a lot of tactile sensor’s type used in robotic application but there is much less on work has been done on load cell.As far as it is concerned,tactile sensor,vison and audio system is very expensive. Therefore,something cheaper which is load cell is used as a replace for other expensive tactile sensor,in order to modelling and develop a finger type tactile sensor.So,a knowledge study regarding on tactile sensor,touch and grasping are investigated in order to proceed the research.Next,the finger type tactile sensor is designed and developed in SolidWorks software for visual-aided all the view of prototype.To achieve the sensory performance and function of the human fingertips,the design of the fingertips sensor mimics the human fingertips in many aspects,including its size and shape.As objects slide across the structure of surface roughness of the finger type tactile sensor,it generates force that measure in ADC (Volt) that are detected by a loadcells inside the holder.By using Graphical User Interface (GUI),data logging for every extracted graph of each experiment is performed.The developed finger type tactile sensor needs to be tested in order to identify the performance capability of the sensor according to the designed function.A set of 3D printed objects with different values of roughness has been prepared as the sample for this test.Then,for performance validation,Experiment 1: Calibration (Mitutoyo Precision Reference Specimen) has been conducted between using manual robot (Z-arm) and auto robot (Comau Robot).Comau Robot has been chosen as the most suitable robot for the rest of the experiments, then the work is extended to Experiment 2 (Test using Needle File) and Experiment 3 (Test using Tile).The experiment results show that the functionality of the finger type tactile sensor has been successfully validated and proven acceptable for all set of experiment. 2018 Thesis NonPeerReviewed text en http://eprints.utem.edu.my/id/eprint/23337/1/Development%20Of%20Finger%20Type%20Tactile%20Sensor%20With%20Surface%20Roughness%20Analysis.pdf text en http://eprints.utem.edu.my/id/eprint/23337/2/Development%20Of%20Finger%20Type%20Tactile%20Sensor%20With%20Surface%20Roughness%20Analysis.pdf Abd Rashid, Shafiyah (2018) Development Of Finger Type Tactile Sensor With Surface Roughness Analysis. Masters thesis, UTeM. http://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=112297
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
English
topic T Technology (General)
TA Engineering (General). Civil engineering (General)
spellingShingle T Technology (General)
TA Engineering (General). Civil engineering (General)
Abd Rashid, Shafiyah
Development Of Finger Type Tactile Sensor With Surface Roughness Analysis
description This research is focused on the development of finger type tactile sensor with surface roughness analysis.Among various human sensations like hearing,sight,taste and smell,touch is a critical co-existing sensation required to interact with surrounding environment.Therefore,it is believed that a good understanding between the touch and surface roughness have potential benefits to the performance of the finger type tactile sensor robot.Even though there is a lot of tactile sensor’s type used in robotic application but there is much less on work has been done on load cell.As far as it is concerned,tactile sensor,vison and audio system is very expensive. Therefore,something cheaper which is load cell is used as a replace for other expensive tactile sensor,in order to modelling and develop a finger type tactile sensor.So,a knowledge study regarding on tactile sensor,touch and grasping are investigated in order to proceed the research.Next,the finger type tactile sensor is designed and developed in SolidWorks software for visual-aided all the view of prototype.To achieve the sensory performance and function of the human fingertips,the design of the fingertips sensor mimics the human fingertips in many aspects,including its size and shape.As objects slide across the structure of surface roughness of the finger type tactile sensor,it generates force that measure in ADC (Volt) that are detected by a loadcells inside the holder.By using Graphical User Interface (GUI),data logging for every extracted graph of each experiment is performed.The developed finger type tactile sensor needs to be tested in order to identify the performance capability of the sensor according to the designed function.A set of 3D printed objects with different values of roughness has been prepared as the sample for this test.Then,for performance validation,Experiment 1: Calibration (Mitutoyo Precision Reference Specimen) has been conducted between using manual robot (Z-arm) and auto robot (Comau Robot).Comau Robot has been chosen as the most suitable robot for the rest of the experiments, then the work is extended to Experiment 2 (Test using Needle File) and Experiment 3 (Test using Tile).The experiment results show that the functionality of the finger type tactile sensor has been successfully validated and proven acceptable for all set of experiment.
format Thesis
author Abd Rashid, Shafiyah
author_facet Abd Rashid, Shafiyah
author_sort Abd Rashid, Shafiyah
title Development Of Finger Type Tactile Sensor With Surface Roughness Analysis
title_short Development Of Finger Type Tactile Sensor With Surface Roughness Analysis
title_full Development Of Finger Type Tactile Sensor With Surface Roughness Analysis
title_fullStr Development Of Finger Type Tactile Sensor With Surface Roughness Analysis
title_full_unstemmed Development Of Finger Type Tactile Sensor With Surface Roughness Analysis
title_sort development of finger type tactile sensor with surface roughness analysis
publishDate 2018
url http://eprints.utem.edu.my/id/eprint/23337/1/Development%20Of%20Finger%20Type%20Tactile%20Sensor%20With%20Surface%20Roughness%20Analysis.pdf
http://eprints.utem.edu.my/id/eprint/23337/2/Development%20Of%20Finger%20Type%20Tactile%20Sensor%20With%20Surface%20Roughness%20Analysis.pdf
http://eprints.utem.edu.my/id/eprint/23337/
http://plh.utem.edu.my/cgi-bin/koha/opac-detail.pl?biblionumber=112297
_version_ 1725976102719979520
score 13.211869

Similar Items