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3nd ASSIGNMENT
From the system that has been designed, realized, and from the results of tests that have been
done, it can be concluded that the control system that has been realized can be integrated directly
between the microcontroller with hand robot IH2 Azzurra with input in the form of motion sensor
/ sensor gloves that have been realized. This control system can be integrated with PC
configuration as controller and microcontroller system as slave which transmit sensor data. The
control system that has been realized has a good performance, seen from the highest steady state
error value of 3.137%, the highest settling time of 3.8 seconds, the highest overshoot of 3.529%,
and the highest average RMSE of 0.0595% 0 , 0119%. Power required by the system is
relatively low ie 111.9mW. Systems with standard-capacity li-ion battery power supplies can be
used to supply the system for approximately 29.4 hours or 1,225 days. Portability level of power
demand side have been fulfilled, but from side dimension still not fulfilled. Some suggestions for
the development of this final task is the addition of wireless network module, for example
bluetooth can be done for system portability can be improved. In addition it can be used
components with SMD technology (Surface Mounting Device) so that the dimensions of the
system will become smaller. The EMG (Electromyogram) obtained from the arm muscles can be
used as a control system input for further application and research, so that the Prensilia hand-held
robotic system (IH2 Azzurra) can actually be controlled by human hands.
A dynamic model of a multi-fingered robot hand based on the formalism of Lagrange has
been presented. Since many researchers derive the dynamic model of the hand considering the
dynamic model of a manipulator three DOF each finger separately, the model derived in this
paper takes into account the coupling between the fingers. The model, because of its
computational simplicity and its new decoupled structure, is used for the simulation of
modelbased controllers for multi-fingered robot hand achieving a grasping task and the
diagnostic. The obtained results are quite satisfactory and show the validity of the model. As
future works, we will attempt to design controllers based on intelligent methods for the grasping
task.
In this paper, for the design of the prosthetic robot hand with high performance, three novel
actuation principles, which are called distributed actuation, dual-mode twisting actuation, and
EM joint locking mechanism, were discussed. We conrmed that each mechanism plays an
importantrole to achieve the high performanceof the robot hand. That is, the distributed actuation
mechanism provides an additional design parameter to enhance
the ngertip force. The dual-mode twisting actuation allows high speed motion and large
actuating force through a single motor. Finally, the EM joint locking mechanism improves the
dexterityof the under-actuatedrobotnger. By combiningthree actuation principles, we developed
a robot hand which has light weight and small size. Through the grasp test, we conrmed that the
developed robot hand can achieve the power grasp and precision grasp.
In future, we will demonstrate the mechanical performances of the developed robot hand such as
bending speed, grasping force, and DOF by the experiments. The grasping control strategies for
various objects will also be considered.
Conclusion
Overall these three journal discusses the design of hand robots with specific purpose, but
from these three journals have 3 different focus and method for the discussion. In the first journal
described how to design and implement the hand robot IH2 Azzura, the second journal focused
on how the authors designed hand robots that have better grip strength than the previous design,
while in the third journal described how the author wants to develop a hand robot capable of
doing the daily work with high performance coupled with dimensions that are not too thick and
not too heavy.
In the first journal the author would like to describe the design and implementation in
hand robot IH2 Azzura with discrete PID control system based on microcontroller ATMEGA8, in
this journal is explained from the beginning of what system will be used as well as the circuit of
motion sensor that is applied. in this journal also included the results of experiments on each
finger, so it is known performance generated design on the actual application. In this journal also
the authors want to develop IH2 Azzura hand robot to be better by using wireless network
module for system portability that can be improved as well as the manufacture of systems with
smaller dimensions so that the resulting product is lighter.
In the second journal the author wanted to focus on the design and the dynamic control of
the hand robot's grip, the author outlines his journal with a five-finger mathematical model with
20 DOFs (three on each finger, two on the thumb, and six on the wrist). In this paper speakers put
forward the description based on the Langrange formulation. In this journal the authors describe
the methodology that he uses, modeling, controller design, and simulations are made in each
discussion given mathematical modeling. In the future the author wants a hand robot capable of
grasping with better intelligence.
In the third journal the authors designed the development of hand robots capable of doing
the daily work better with light and dimensionless hand models. This design is based on three
actuation principles novel, which are called distributed actuation, dual-mode twisting actuation,
and EM joint locking mechanism. The author designed a finger module for the development of
hand robots that have high performance fingers. According to the author there are many
researchers who develop hand products that resemble the original hand, the researchers used a lot
of actuators to get a high DOF that causes the robot hands become heavy and large dimension,
for the authors divide into three parts. For that reason the author divides it into three parts. In this
journal, the author explains the reason for designing hand robots, the author also describes the
method he used to work on his design, in this journal described how each actuator part will be
done but not explained in how the control system he used in each part. At the end of the journal
the author shows the simulation of the design that he developed.
These three journals want to develop responsives robot hand with dimensions that are not
thick and light weight with a focus on each part, it is expected that the development of hand
robots will be better so that helps people who have disabilities on his hands.