Design and Control of a Dexterous Anthropomorphic Five Fingered Robotic Arm

Abstract

The primary objective of this research involves designing and fabrication of a wireless controlled five-fingered anthropomorphic dexterous robotic arm. Multiple joints are provided in the arms and fingers to mimic a realistic human-like motion. The mechanism is designed with the prime aim of increasing its efficiency in terms of performance, energy consumption and economy while reducing the total system weight. The design is followed up by the fabrication of mechanical sections of the arm and the assembly of the complete system. Finally, interfacing of the robotic arm with an external glove that can be worn by the user to control the arm motion is done through utilization of a wireless medium. The kinematics of the system, the overall mechanism for actuation and spring design for restoring the elements to their original positions are discussed in the paper.