Anthropomorphic Multi-Fingered Robotic Manipulator for Kitchen Objects Grasping

Chin, Jun Wei (2019) Anthropomorphic Multi-Fingered Robotic Manipulator for Kitchen Objects Grasping. Final Year Project (Bachelor), Tunku Abdul Rahman University College.

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Abstract

Household robots target to provide robotic devices that act as a functional extensions for the user, while having the ability to perform basic activities. The performance of the household robots can be highly improve by providing a well-designed gripper as its end-effector. The focus of this project is more on the field of assists human by performing one of the many challenges faced by robot which is grasping Asian kitchen tools with its proper-designed gripper. A survey was conducted on 10 participants to record the distal phalanx, middle phalanx and proximal phalanx of each fingers of right hand. Besides, the survey also included the open angle between each fingers. The fingers measurements are used to compare with western fingers measurement. Three-fingered prototype was developed based on the most used fingers and the fingers dimension of prototype are designed based on the average result from the survey. The finger material used was silicone rubber and the movement of fingers is driven by tendon which mimic the movement of human fingers. The index finger of the prototype able to adjust its planar orientation using servo motor control. Next, the performance of the prototype was test on grasping different kind of Asian kitchen objects consisted of various size, shape and weight by carrying out experiment such as object grasping applying the most used human grasping method in the survey. Bending profile was determined for each of the kitchen object grasping.