Semi-anthropomorphic 3D printed multigrasp hand for industrial and service robots

Zhanat Kappassov, Yerbolat Khassanov, Artur Saudabayev, Almas Shintemirov, Huseyin Atakan Varol

Research output: Chapter in Book/Report/Conference proceedingConference contribution

22 Citations (Scopus)

Abstract

This paper presents the preliminary prototype design and implementation of the Nazarbayev University (NU) Hand, a new semi-anthropomorphic multigrasp robotic hand. The hand is designed to be an end effector for industrial and service robots. The main objective is to develop a low-cost, low-weight and easily manufacturable robotic hand with a sensor module allowing acquisition of data for autonomous intelligent object manipulation. 3D printing technologies were extensively used in the implementation of the hand. Specifically, the structure of the hand is printed using a 3D printer as a complete assembly voiding the need of using fasteners and bearings for the assembly of the hand and decreasing the total weight. The hand also incorporates a sensor module containing a LIDAR, digital camera and non-contact infrared temperature sensor for intelligent automation. As an alternative to teach pendants for the industrial manipulators, a teaching glove was developed, which acts as the primary human machine interface between the user and the NU Hand. The paper presents an extensive performance characterization of the robotic hand including finger forces, weight, audible noise level during operation and sensor data acquisition.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Pages1697-1702
Number of pages6
DOIs
Publication statusPublished - 2013
Event2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 - Takamastu, Japan
Duration: Aug 4 2013Aug 7 2013

Publication series

Name2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013

Other

Other2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
CountryJapan
CityTakamastu
Period8/4/138/7/13

Fingerprint

End effectors
Robots
Sensors
Bearings (structural)
3D printers
Industrial manipulators
Fasteners
Digital cameras
Temperature sensors
Acoustic noise
Printing
Data acquisition
Teaching
Automation
Infrared radiation
Costs

Keywords

  • intelligent industrial automation
  • LIDAR
  • Multigrasp robotic hand
  • service robotics

ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Kappassov, Z., Khassanov, Y., Saudabayev, A., Shintemirov, A., & Varol, H. A. (2013). Semi-anthropomorphic 3D printed multigrasp hand for industrial and service robots. In 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013 (pp. 1697-1702). [6618171] (2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013). https://doi.org/10.1109/ICMA.2013.6618171

Semi-anthropomorphic 3D printed multigrasp hand for industrial and service robots. / Kappassov, Zhanat; Khassanov, Yerbolat; Saudabayev, Artur; Shintemirov, Almas; Varol, Huseyin Atakan.

2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013. 2013. p. 1697-1702 6618171 (2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kappassov, Z, Khassanov, Y, Saudabayev, A, Shintemirov, A & Varol, HA 2013, Semi-anthropomorphic 3D printed multigrasp hand for industrial and service robots. in 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013., 6618171, 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013, pp. 1697-1702, 2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013, Takamastu, Japan, 8/4/13. https://doi.org/10.1109/ICMA.2013.6618171
Kappassov Z, Khassanov Y, Saudabayev A, Shintemirov A, Varol HA. Semi-anthropomorphic 3D printed multigrasp hand for industrial and service robots. In 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013. 2013. p. 1697-1702. 6618171. (2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013). https://doi.org/10.1109/ICMA.2013.6618171
Kappassov, Zhanat ; Khassanov, Yerbolat ; Saudabayev, Artur ; Shintemirov, Almas ; Varol, Huseyin Atakan. / Semi-anthropomorphic 3D printed multigrasp hand for industrial and service robots. 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013. 2013. pp. 1697-1702 (2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013).
@inproceedings{254d5ea8e3984c38b385e2c207c0b260,
title = "Semi-anthropomorphic 3D printed multigrasp hand for industrial and service robots",
abstract = "This paper presents the preliminary prototype design and implementation of the Nazarbayev University (NU) Hand, a new semi-anthropomorphic multigrasp robotic hand. The hand is designed to be an end effector for industrial and service robots. The main objective is to develop a low-cost, low-weight and easily manufacturable robotic hand with a sensor module allowing acquisition of data for autonomous intelligent object manipulation. 3D printing technologies were extensively used in the implementation of the hand. Specifically, the structure of the hand is printed using a 3D printer as a complete assembly voiding the need of using fasteners and bearings for the assembly of the hand and decreasing the total weight. The hand also incorporates a sensor module containing a LIDAR, digital camera and non-contact infrared temperature sensor for intelligent automation. As an alternative to teach pendants for the industrial manipulators, a teaching glove was developed, which acts as the primary human machine interface between the user and the NU Hand. The paper presents an extensive performance characterization of the robotic hand including finger forces, weight, audible noise level during operation and sensor data acquisition.",
keywords = "intelligent industrial automation, LIDAR, Multigrasp robotic hand, service robotics",
author = "Zhanat Kappassov and Yerbolat Khassanov and Artur Saudabayev and Almas Shintemirov and Varol, {Huseyin Atakan}",
year = "2013",
doi = "10.1109/ICMA.2013.6618171",
language = "English",
isbn = "9781467355582",
series = "2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013",
pages = "1697--1702",
booktitle = "2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013",

}

TY - GEN

T1 - Semi-anthropomorphic 3D printed multigrasp hand for industrial and service robots

AU - Kappassov, Zhanat

AU - Khassanov, Yerbolat

AU - Saudabayev, Artur

AU - Shintemirov, Almas

AU - Varol, Huseyin Atakan

PY - 2013

Y1 - 2013

N2 - This paper presents the preliminary prototype design and implementation of the Nazarbayev University (NU) Hand, a new semi-anthropomorphic multigrasp robotic hand. The hand is designed to be an end effector for industrial and service robots. The main objective is to develop a low-cost, low-weight and easily manufacturable robotic hand with a sensor module allowing acquisition of data for autonomous intelligent object manipulation. 3D printing technologies were extensively used in the implementation of the hand. Specifically, the structure of the hand is printed using a 3D printer as a complete assembly voiding the need of using fasteners and bearings for the assembly of the hand and decreasing the total weight. The hand also incorporates a sensor module containing a LIDAR, digital camera and non-contact infrared temperature sensor for intelligent automation. As an alternative to teach pendants for the industrial manipulators, a teaching glove was developed, which acts as the primary human machine interface between the user and the NU Hand. The paper presents an extensive performance characterization of the robotic hand including finger forces, weight, audible noise level during operation and sensor data acquisition.

AB - This paper presents the preliminary prototype design and implementation of the Nazarbayev University (NU) Hand, a new semi-anthropomorphic multigrasp robotic hand. The hand is designed to be an end effector for industrial and service robots. The main objective is to develop a low-cost, low-weight and easily manufacturable robotic hand with a sensor module allowing acquisition of data for autonomous intelligent object manipulation. 3D printing technologies were extensively used in the implementation of the hand. Specifically, the structure of the hand is printed using a 3D printer as a complete assembly voiding the need of using fasteners and bearings for the assembly of the hand and decreasing the total weight. The hand also incorporates a sensor module containing a LIDAR, digital camera and non-contact infrared temperature sensor for intelligent automation. As an alternative to teach pendants for the industrial manipulators, a teaching glove was developed, which acts as the primary human machine interface between the user and the NU Hand. The paper presents an extensive performance characterization of the robotic hand including finger forces, weight, audible noise level during operation and sensor data acquisition.

KW - intelligent industrial automation

KW - LIDAR

KW - Multigrasp robotic hand

KW - service robotics

UR - http://www.scopus.com/inward/record.url?scp=84887918137&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84887918137&partnerID=8YFLogxK

U2 - 10.1109/ICMA.2013.6618171

DO - 10.1109/ICMA.2013.6618171

M3 - Conference contribution

SN - 9781467355582

T3 - 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013

SP - 1697

EP - 1702

BT - 2013 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013

ER -