Re-constructing and analyzing of five fingers manipulator

Search by :

ALL Author Subject ISBN/ISSN Advanced Search

Last search:

Re-constructing and analyzing of five fingers manipulator

Wijaya, Willy - Personal Name; Trihatmo, Sardjono - Personal Name; Prajogo, Tutuko - Personal Name;

The main purpose of this thesis project is to improve the design of the five-finger manipulator that developed by the author in previous project to imitate one movements of human hand and integrate the system with vision sensor system that generate command reference. The problems are how to produce movements with only single actuation for each finger and create a control system that is able to integrate with the command reference. The design is based on String-spring mechanism with three joints and one DOF motion control which resulting in single trajectory finger tips motion according to string displacement which proportional with displacement of the motor rotation. The control is open loop on displacement of string using closed loop on DC servo motor control. The result shows that the system is able to produce a resemblance movement of human hand with single actuator. Integration between robot control systems and command reference using vision sensor system is proved to be successful.

Availability

B01146 (wh) Available

Detail Information

Series Title: -
Call Number: 1146
Publisher: : Swiss German University., 2012
Collation: -
Language: English
ISBN/ISSN: -
Classification: NONE
Content Type: -
Media Type: -
Carrier Type: -
Edition: -
Subject(s): MT
Specific Detail Info: -
Statement of Responsibility: -

Other version/related

No other version available

File Attachment

No Data

Comments

You must be logged in to post a comment