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
AN - SCOPUS:84887918137
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
T2 - 2013 10th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2013
Y2 - 4 August 2013 through 7 August 2013
ER -