Publication: Gripper design of an underwater manipulator
| datacite.subject.fos | oecd::Engineering and technology::Mechanical engineering | |
| dc.contributor.author | Ooi, Yuh Sheng | |
| dc.date.accessioned | 2024-07-09T02:29:01Z | |
| dc.date.available | 2024-07-09T02:29:01Z | |
| dc.date.issued | 2010-04-01 | |
| dc.description.abstract | Gripper is an important part of a manipulator. Emulating the motion of a human hand is deemed to be challenging. This project proposes a same-sized and light-weight robotic hand designed and concerned with the feasibility of using control system to control 5 fingers robot hand. The mechanics of five-fingered robot hand is designed in way to mimic the human hand. Each finger of the robot hand has 1 degree of freedom which is actuated by only 1 servomotor and almost acts like a human finger. The function of tactile sensor is to provide the feedback signal to the microcontroller when the gripper holds an object. The Servo Motor chain drive is used to drive the sector of each robot hand’s finger. Furthermore, the servo motor can only provide a low torque for the finger, so the robot hand can only generate a suitable force for each finger. All the behavior and movement of the robot are processed by an FPGA. With further research and development, the robot hand can be used to implement in humanoid robot. | |
| dc.identifier.uri | https://erepo.usm.my/handle/123456789/19646 | |
| dc.language.iso | en | |
| dc.title | Gripper design of an underwater manipulator | |
| dc.type | Resource Types::text::report | |
| dspace.entity.type | Publication | |
| oairecerif.author.affiliation | Universiti Sains Malaysia |