A Microcontroller Based Four Fingered Robotic Hand

摘要

In this paper we deal with the design and development of a Four Fingered Robotic Hand (FFRH) using 8-bit microcontroller, sensors and wireless feedback. The design of the system is based on a simple, flexible and minimal control strategy. The robot system has 14 independent commands for all the four fingers open and close, wrist up and down, base clockwise and counter clockwise, Pick and Place and Home position to move the fingers. Implementation of pick and place operation of the object using these commands are discussed. The mechanical hardware design of the Robotic hand based on connected double revolute joint mechanisms is briefed. The tendoning system of the double revolute joint mechanism and wireless feedback network provide the hand with the ability to confirm to object topology and therefore providing the advantage of using a simple control algorithm. Finally, the results of the experimental work for pick and place application are enumerated.