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animatronics_robot_hand

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by

emer ismail

on 4 January 2013

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Transcript of animatronics_robot_hand

PROJECT BACKGROUND Humanoid hand is a robot that resembles human hand

The dexterity depends on the number of DOF of the robot.

Animatronics is the use of the Electronics & Robotics in the mechanised puppets to make them alive.

This project aim to produce a simple mechanism of animatronics robot hand that can perform simple task. Servomotor A small box that contain a DC electric motor,gears with an output shaft, position-sensing mechanism, and control circuitry. FINAL YEAR PROJECT 1 ANIMATRONICS ROBOT HAND The main challenge:
Design and specification of the robot hand that required in performing the tasks.
Simplifying the robot mechanism with less number of DOF and less cost.

The process’s trickiest part:
The mechanical structure design of robot hand PROBLEM STATEMENTS 5 fingered robot hand

8 DOF

Type of controller
AVR AtMega 328 (Arduino platform)

Dimension: Normal human hand SCOPE The objective of this project is to develop a multi-fingered robot hand with simple mechanism design, able to interact with people remotely or by preprogram and able to grasp and release a small size object. Animatronics hand The Elu2-Hand Gripping Robot Related Works 9 DOF robot hand
Servo actuated A study in simplicity
Servo actuated GANTT CHART september december november october Topic searching
Project proposal
Topic finalization Research Materials
Structure design Components and materials
Prototype -part 1 Prototype -part 1
FYP 1 Seminar
Report writing GANTT CHART february may april march Prototype -part 2
Prototype -part 3 Electrical and programming implementation
Testing and troubleshooting Analysis
FYP 1 seminar
Final thesis draft and journal submission FYP 1 FYP 2 Design improvements
Mechanical implementation Thesis correction
Final thesis writing june Mechanical design and hardware Electrical Circuitry Microcontroller programming Design software: Solidwork (3D mechanical Computer Aided Design – CAD program)
Robot design consists of :
8 DOF
Dimension (approximately same with normal human)
Structure material (Aluminum, acrylic prespex, tube)
Robot actuator (DC servomotor) Arduino platform
Interfacing circuit Arduino platform is programmed using C++ language. METHODOLOGY EXPECTED
OUTCOME Perform like human hand.

Robot hand which can interact with people.

Examples of activities of this animatronics robot hand are:
1. hand waving
2. hand shaking
3. grasping and releasing a simple and small size object Start

Proposal

Research Materials

Design

Prototype

Design improvement

Implementation

Testing and troubleshooting

Analysis

Finish PROJECT
FLOW Design Process:
1. Design
2. Review
3. Update Materials used:
1. Finger: aquarium tube
2. Tendon: nylon string
3. Actuator : micro servo PRELIMINARY RESULT The animatronics robot hand will consists of three parts:
1. Palm and five fingers
2. Lower arm
3. Upper arm OBJECTIVE Ng Der Li (2008). Development 5 Fingers Robot Using PIC. Bachelor Degree Thesis. Universiti Teknologi Malaysia, Skudai.

Mohd Khairul Ikhwan Bin Ahmad (2011). Multifingered Robot Hand Robots Operates Using Teleoperation. Universiti Tun Hussein Onn Malaysia.

Agrawal A.D. and Chandak M.A. (2012) Animatronic Hand. World Research Journal of Biologically-Inspired Computing, Volume 1, Issue 1, pp.-12-15.

Rivin, Eugine I. (1988). Mechanical Design of Robots. United states: McGraw Hill

Williams, Karl P. (2004). Humanoid Robot. United States: McGraw Hill

Johari Halim Shah (2009). Robotics, Malaysia

Maik Schmidt (2011), Arduino: A quick start guide. United States: The Pragmatic Programmers

Kristina Grifantini (2010). A Gentler Robotic Touch. Retrieved on November 20, 2012, from http://www.technologyreview.com/demo/421385/a-gentler-robotic-touch/

Mike Bacidore (2010). Servo Motors Are Good for a Change: Machine Builders Discuss the Pluses and Minuses of Using Servos. Retrieved on October 28. 2012 from http://www.controldesign.com/articles/2010/ServoMotors1008.html REFERENCES A control glove Animatronics hand 2 3 4 5 10 11 14 15 16 17 18 19 ERINA EMELINA BINTI ISMAIL
SUPERVISOR : DR. MOHD NOH 1 6 7 8 9 12 13 18
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