Development of anthropomorphic robotic hand driven by Pneumatic Artificial Muscles for robotic applications

International Conference on Innovative Technology, Engineering and Sciences 2018

工业技术;自然科学

Farag, Mohannad^1 ; Azlan, Norsinnira Zainul^2 ; Alsibai, Mohammed Hayyan^1

Faculty of Engineering Technology, Universiti Malaysia Pahang, Pekan, Pahang

26600, Malaysia^1

Department of Mechatronics Engineering, International Islamic University Malaysia, Kuala Lumpur

53100, Malaysia^2

关键词: Compact size;    Different shapes;    Grasped object;    Human being;    Human muscles;    Number of degrees of freedom;    Pneumatic artificial muscle;    Robotic applications;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/342/1/012052/pdf
DOI  :  10.1088/1757-899X/342/1/012052

来源: IOP

【 摘 要 】

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.