{"title":"Design of an Open Source Anthropomorphic Robotic Finger for Telepresence Robot","authors":"Jittaboon Trichada, Traithep Wimonrut, Narongsak Tirasuntarakul, Thanacha Choopojcharoen, Bawornsak Sakulkueakulsuk","doi":"10.1145/3467691.3467704","DOIUrl":null,"url":null,"abstract":"This paper focuses on the design and implementation of an anthropomorphic robotic finger, that was designed for teleoperation systems. This open-source anthropomorphic finger is easy to fabricate with a 3D printer and standard parts. The finger has three joints and two active Degrees of Freedom (dofs) with 2 servo motors dedicated to finger motion. Size and weight have been optimized in order to achieve human-like movement and space for attached feedback sensors. This proposed the design process, evaluate the finger with quantitative measures, both equation of four-bar linkage mechanism and equation of kinematic.","PeriodicalId":159222,"journal":{"name":"Proceedings of the 2021 4th International Conference on Robot Systems and Applications","volume":"78 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2021 4th International Conference on Robot Systems and Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1145/3467691.3467704","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
This paper focuses on the design and implementation of an anthropomorphic robotic finger, that was designed for teleoperation systems. This open-source anthropomorphic finger is easy to fabricate with a 3D printer and standard parts. The finger has three joints and two active Degrees of Freedom (dofs) with 2 servo motors dedicated to finger motion. Size and weight have been optimized in order to achieve human-like movement and space for attached feedback sensors. This proposed the design process, evaluate the finger with quantitative measures, both equation of four-bar linkage mechanism and equation of kinematic.
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