PHYSICS WORKING MODEL

ROUGH DRAFT
ROBOTIC HAND
Reetu Raj, Akila Sai & Manasa
XII-B

CONTENT
A robotic arm is a type of mechanical arm, usually
programmable, with similar functions to a human arm; the
arm may be the sum total of the mechanism or may be part
of a more complex robot. The links of such a manipulator are
connected by joints allowing either rotational motion or
translational (linear) displacement. The links of the
manipulator can be considered to form a kinematic chain.
The terminus of the kinematic chain of the manipulator is
called the end effector and it is analogous to the
human hand.
The end effector, or robotic hand, can be designed to
perform any desired task such as welding, gripping, spinning
etc., depending on the application. For example robot arms
in automotive assembly lines perform a variety of tasks such
as welding and parts rotation and placement during
assembly. In some circumstances, close emulation of the
human hand is desired, as in robots designed to
conduct bomb disarmament and disposal
This robot is a mechanical arm, a arm manipulate designed

to perform many difference tasks and capable to repeated

variable programmes.
To perform its assigned tasks, the robot moves parts, objects, tools
and special devices by means of programmed motion and points.
The robotic arm performs motions in space. It's function is to
transfer objects or toll from one point to another point, as instructed
by the controller.

ABSTRACT

Purpose: Robotic end-effectors provide the link between

machines and the environment. The evolution of end-effector
design has traded off between simplistic single-taskers and
highly complex multi-function grippers. For future space
operations, launch payload weight and the wide range of desired
tasks necessitate a highly dexterous design with strength and
manipulation capabilities matching those of the suited astronaut
using EVA tools.

Procedure Used:

A newly proposed drive mechanism for

robot joints based on a principle of twisted strings was developed
and is used to power the joints of a five fingered robotic hand.
The proposed mechanism is named Twist Drive because it
generates a pulling force by twisting two flexible strings on each
other. Properties of the mechanism are presented in the paper
and application to a five-fingered robotic hand is demonstrated.
Low-cost, lightweight, and muscle-like operation are the main
characteristics of the proposed drive and is therefore beneficial in
production of a lightweight, human size robotic hand that can be
used in robotics as well as in prosthetics. A prototype of five
fingered robotic hand is presented, and its mechanical and
control systems are explained.

Result:

The result to this project was that of a properly

working robotic arm fitted with 5-servo motors and a direction

glove fitted with 5 flex sensors and two Lilly pad Arduino.

Conclusion:

The so made Robotic Hand is a robotic

machine, which provides link between machines and the
environment. This project, though is not as simple, was easy
considering we used the right program to upload and the right
part for the proper functioning of the project.

ACKNOWLEDGEMENTS
Weareextremelyfortunatetohavesomanypeoplethathelpedmealongtheway.
Wearedeeplygratefulforeveryonewhohelpedmemakeittotheend.
Myfirstthanksgotothefaculty,staff,andstudentsatourschool.Notonly
haveyouhelpedandsupportedusoverthepastfewmonths,youvealso
madeitanamazingenvironmenttoworkin.Youinspirecreativityand
persistenceandhavebeenthebiggestinfluenceonmeatschoolsinceI
startedmyeducationthere.
We would firstly like to thank my Physics Faculty for
providing us with this opportunity of making a working
model. Without their intimation and support this project
would have not been an easy cakewalk. Secondly, I would
like to show my gratitude towards y parents for being there
for us all through this while.
Lastly, We would like to thank our co-partners in this project
for being there for all three of us respectively. With out this
group this project would be very though and complicating.
Thank you one and all for being a part of this wonderful
journey of ours.

TABLE OF CONTENTS

Abstract
...I
Acknowledgements
.......II
Introduction
..01
1.Background of Study
2.Statement of Problem
3.General/ Special Objective.
Significance
..02
1. Scope & Limitation
2. Review & Related Literature
Methodology
.04
1. Materials
2. General Procedure
Results and

Discussion.0
6
1. Findings
2. Analysis of Data
3. Conclusion

Recommendations
.07

Bibliography
.07

INTRODUCTION

Background Of Study:
Robots have the potential to play a large role in our world. They
are currently widely used in industrial applications for laborintensive operations that require a high level of precision and
repetition. In addition, robots can be found in the entertainment
industry in the form of toys and animatronics.
The function of robots in society is constantly evolving and
current research endeavors to bring them further into the realm
of domestic assistance, medicine, military, search and rescue,
and exploration. In many of these applications, the robot must

perform only one specific task and thus can be designed to

handle a single operation.
However, as the potential use for robots grows, so does their
need to interact with objects in their environment? The design
of end effectors that can pick up a variety of objects and utilize
them as tools is a significant challenge in robot development.

Statement of Objective:
The Objective of the Glove controlled- Robotic hand is that to
make this working model and prove that many different tasks
can be done through one model by using variable programing.
Our primary objective is to make the Robotic arm, having five
servomotors & a d.c motor to interfaces with the Indevelopment of a Flex Controlled Based Robotic Arm.

SIGNIFICANCE

Scope:
Robotics engineers can design robots, which can do a whole lot
of things, ranging from delicate and precision tasks such as
fitting small parts of watches and to the hazardous tasks such as
fuelling the chambers of nuclear reactors. Robots are thought to
be super-machines but they have limitations.
Despite the great advancements in the field of robotics and
continuous efforts to make robots more and more sophisticated
to match the capabilities of human beings and even surpass
them, still, from a very scientific and logical point of view, robots
developed up till these days are no way closer to human beings.
Basic robotics we design machines to do the specified tasks
and in the advanced version of it robots are designed to be
adaptive, that is, respond according to the changing
environment and even autonomous, that is, capable to
make decisions on their own. While designing a robot the

most important thing to be taken in consideration is,

obviously, the function to be performed. Here comes into
play the discussion about the scope of the robot and
robotics. Robots have basic levels of complexity and each
level has its scope for performing the requisite function.

Limitations:
Although robots have not developed to the stage where
they pose any threat or danger to society, fears and
concerns about robots have been repeatedly expressed.
The principal theme is the robots' intelligence and ability to
act could exceed that of humans, that they could develop a
conscience and a motivation to take over or destroy the
human race.
Currently, malicious programming or unsafe use of robots
may be the biggest danger. Although industrial robots may
be smaller and less powerful than other industrial
machines, they are just as capable of inflicting severe injury
on humans. However, since a robot can be programmed to
move in different trajectories depending on its task, its
movement can be unpredictable for a person standing in its
reach. Therefore, most industrial robots operate inside a
security fence, which separates them from human workers.
Humans are at a critical and significant juncture where
humans have allowed robots, "smart missiles," and
autonomous bombs equipped with artificial perception to
make decisions about killing us. This represents an
important and dangerous trend where humans are
transferring more of our cognitive structures into our
machines. Even without malicious programming, a robot,
especially a future model moving freely in a human
environment, is potentially dangerous because of its large
moving masses, powerful actuators and unpredictably

complex behavior. A robot falling on someone or just

stepping on his foot by mistake could cause much more
damage to the victim than a human being of the same size.
There are, theoretically, some LAWS OF ROBOTICS.
The Laws of Robotics were developed by a small group of
scientists who believe that robotics is the wave of the
future.
The first law, referred to as law zero, is that a robot may not
injure humanity, or, though inaction, allow humanity to
come to harm.
The second law states that a robot may not injure a human
being, or, through inaction, allow a human being to come to
harm, unless this would violate a higher order law. This law
was created so that mankind would seek not to create
robots that would harm people.
The third law is that a robot must obey orders given it by
human beings, except where such orders would conflict
with a higher order law.
And finally the final law is that a robot must protect its own
existence as long as such protection does not conflict with a
higher order law. How ever many people dont know that
these laws really exist. Almost all the limitations of robotics
could be overcome by following these laws of robotics.

Review of Related Literature

The most developed robot in practical use today is the robotic
arm and it is seen in applications throughout the world. We use
robotic arms to carry out dangerous work such as when
dealing with hazardous materials. We use robotic arms to carry
out work in outer space where man cannot survive and we use
robotic arms to do work in the medical field such as conducting

experiments without exposing the research. Some of the most

advanced robotic arms have such amenities as a rotating base,
pivoting shoulder, pivoting elbow, rotating wrist and gripper
fingers. All of these amenities allow the robotic arm to do work
that closely resembles what a man can do only without the
risk.

METHODOLOGY

Materials Required:
An elastic glove;

LilyPad Arduino board (there are different versions, which

usually only have 4 analog inputs, so pay attention and buy
the one in the image): it works exactly like the classic Arduino
UNO, so you can use even an Arduino Nano, but pay attention
to the voltage needed;
XBee module: for the radio communication;
Shield to connect the Xbee module;
5 Flex sensors;
5 resistors: 47 K;
battery pack with 3x1.5 V batteries (Lilypad can be powered
from 2.7 to 5.5 V, so 4.5 V it's ok);
LilyPad FTDI adapter: to connect the LilyPad board to the PC
and load programs with the Arduino IDE (quite optional,
because you can use also the Arduino UNO board removing the
ATmega chip, but it's tricky to make this kind of connection
every time).

The materials needed for the robotic hand are:

a steel structure for the palm of the hand and wood for the
fingers;
Arduino UNO board;
XBee module;
5 servomotors 5V powered
a servomotor shield for Arduino UNO
Shield to connect the XBee
fishing wires;
9 V Battery.

General Procedure
To make the control glove I suggest first to choose the
right position of the different components, then
connect everything with the proper length of wire.
To make an analog read with Arduino LilyPad you
need to make a voltage divider, since that flex
sensors don't work like potentiometers (they have
only 2 contacts).
So following the scheme, first solder the 5 resistor on
the LilyPad board, one side to the 5 different Analog
pins, the other in common to the ground. Then solder
the flex sensors, one side to the 5 different Analog
pins and the other in common to the positive.
Then connect the XBee Shield: two wires for the
power, the oter two for the signal. Solder the Tx pin to
the Rx and vice versa.
For the circuit, you can choose to use a servomotor shield
for Arduino UNO (search on eBay or Amazon) with a XBee
shield, or make a custom shield (I'll make one as soon as

possible) with the XBee Module and the pins for the
servomotors, and power the Arduino UNO by its jack port.
The DIY XBee Shield I made uses a 12 KOhm resistor and a
22 KOhm resistor, you can see the wiring in the pictures.
So we used what I had already bought before, but you can
use everything that let you control the servomotors and the
XBee.

Program to be installed in Arduiono

/*
Robot Hand
Created by Santin Gabriele, 2014
I.T.S.T. "J. F. Kennedy", cl. 5^A EA
Thanks to Elias De Lamper for suggestions to improve this program!
*/
#include <Servo.h> // Library needed to use function for
servomotors
Servo ServoThumb, ServoIndex,
ciascun servomotore.

// Viene assegnato un nome a

ServoMiddle, ServoAnnular, ServoPinky;

byte startPackage; // Variable that will contain the character of start
package set in the GloveTX sketch, "<"
int AngThumb = 0; // Variables with the values for the servomotors
(between 0 and 180)
int AngIndex = 0;
int AngMiddle = 0;
int AngAnnular = 0;

int AngPinky = 0;
void setup()
{
Serial.begin(9600);
baud/s.

// Serial communication is activated at 9600

ServoThumb.attach(9); // The servomotors are asigned to the pins

of the Arduino UNO board.
delay(300);
// A delay of 300ms is set for a secure connection
(this can be optional)
ServoIndex.attach(8);
delay(300);
ServoMiddle.attach(7);
delay(300);
ServoAnnular.attach(6);
delay(300);
ServoPinky.attach(5);
delay(300);
Serial.println("Ready to receive.");
}
void loop()
{
if(Serial.available()) {
XBee module

// Witing for data incoming from the other

startPackage = Serial.read(); // The first value will be "<", the

other are assigned to the finger

AngThumb = Serial.read();
AngIndex = Serial.read();
AngMiddle = Serial.read();
AngAnnular = Serial.read();
AngPinky = Serial.read();

if(startPackage == '<'){ // Verifying that the first value is "<"

if(AngThumb!=255) // Sometimes the incoming value goes to
255, I couldn't discover yet the reason, so I simply excluded it when it
happens. You can remove this line for every finger if you don't have
this kind of problem
ServoThumb.write(AngThumb); // The servomotors rotates of the
assigned degrees
if(AngIndex!=255)
ServoIndex.write(AngIndex);
if(AngMiddle!=255)
ServoMiddle.write(AngMiddle);
if(AngAnnular!=255)
ServoAnnular.write(AngAnnular);
if(AngPinky!=255)
ServoPinky.write(AngPinky);
}
}

RESULTS & DISCUSIIONS

Findings:

Analysis of Data:

Conclusions:
Robotics is a technology with a future, and is a technology
for the future. If present trends continue, and if some of the
laboratory research currently underway is ultimately
converted into practicable technology, robots of future will
be mobile units with one or more arms, multiple sensor
capabilities and the computational and data processing
power of todays mainframe computers. They will be able to
respond to human voice command. They will be able to
receive general instructions and will translate those
instructions using artificial intelligence into a specific set of
actions required to carry them out. In short, future robots
will have many of the attributes of human beings.
Getting from the present to the future will require much
work in mechanical engineering, computer science,
electrical engineering, industrial engineering, materials
technology, manufacturing systems engineering, and the
social sciences. A combination of economic and technical
factors will determine how the future applications will be
introduced. Although there is significant development in the
science of robots, still its usage is limited due to high cost
of production, less availability of resources. If we can
overcome these limitations, more benefits can be gained
from robotics.

BIBLIOGRAPHY

http://mechsters.blogspot.in/2011/03/robotics-futureapplications-in.html

http://www.academia.edu/5593655/Robotic_Arm_Fin
al_Year_Project_Report

http://www.instructables.com/id/Wireless-ControlledRobotic-Hand/?ALLSTEPS

http://www.wikipedia.com