Design and Fabrication of a Master-Slave 3-Finger Robotic Manipulator

Teh, Shi Ching (2016) Design and Fabrication of a Master-Slave 3-Finger Robotic Manipulator. Final Year Project (Bachelor), Tunku Abdul Rahman University College.

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Abstract

Rehabilitation robotics aims to provide robotic devices that act as a functional extensions for the user, while having the ability to perform basic activities. By providing a well-designed gripper as its end-effector can greatly enhance the performance of a rehabilitation robot. The focus of this project are more on this field that supports human being by performing one of the many challenges faced by robot which is manipulating door knobs with its well-designed gripper. Building of the prototype are based on several parameters that were analyzed from the pre-development surveys. The performance of the prototype was tested on common type of door knobs by conducting a set of experiments such as the gripping force exerts by the robotic manipulator. The final design was capable of twisting door knobs and handles in clockwise and anti-clockwise direction. Although the manipulator able to unlatch door knobs with similar characteristics, there are several limitations to the design that need to be addressed prior to enter rehabilitation environment.