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All Journal International Journal of Electrical and Computer Engineering Seminar Nasional Aplikasi Teknologi Informasi (SNATI) IPTEK Journal of Proceedings Series TELKOMNIKA (Telecommunication Computing Electronics and Control) ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika EMITTER International Journal of Engineering Technology KLIK (Kumpulan jurnaL Ilmu Komputer) (e-Journal) Proceeding of the Electrical Engineering Computer Science and Informatics JOIV : International Journal on Informatics Visualization J-Dinamika: Jurnal Pengabdian Kepada Masyarakat GUYUB: Journal of Community Engagement Automotive Experiences The Indonesian Journal of Computer Science
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Politeknik Elektronika Negeri Surabaya
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Journal : JOIV : International Journal on Informatics Visualization

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Concept and Design of Anthropomorphic Robot Hand with a Finger Movement Mechanism based on a Lever for Humanoid Robot T-FLoW 3.0 Apriandy, Kevin Ilham; Ulurrasyadi, Faiz; Dewanto, Raden Sanggar; Dewantara, Bima Sena Bayu; Pramadihanto, Dadet
JOIV : International Journal on Informatics Visualization Vol 8, No 1 (2024)
Publisher : Society of Visual Informatics

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.62527/joiv.8.1.1793

Abstract

This work described a concept and design of an anthropomorphic robot hand for the T-FLoW 3.0 humanoid robot, which featured a mechanism based on a lever as its finger movement. This work aimed to provide an affordable, modular, lightweight, human-like robot hand with a mechanism that minimizes mechanical slippage. The proposed mechanism works based on the push/pull of a lever attached to the finger to generate its finger flexion/extension movement. The finger’s lever is pushed/pulled through a servo horn and a rigid bar by the affordable TowerPro MG90S micro-servo. Our hand is developed only as necessary to become close to human hands by only applying five fingers and six joints, where each joint has its actuator. The combination of 3D printing technology with PLA filament accelerates and streamlines the manufacturing process, provides a realistic appearance, and achieves a lightweight, affordable, and easy maintenance product. Structural analysis simulations show that our finger design constructed with PLA material could withstand a load of about 30 N. We verified our finger mechanism by repeatedly flexing and extending the finger 30 times, and the results showed that the finger movements could be performed well. Our hand offered excellent handling for the mechanical issues brought on by finger movements, one of the issues that robot hand researchers have encountered. Our work could provide significant benefits to the T-FLoW 3.0 developers in enhancing the ability of humanoid robots involving hands, such as grasping and manipulating objects.
Co-Authors Abrari, Arya Rafi Achmad Basuki Achmad Basuki Adi Sucipto, Adi Adnan Rachmat Anom Besari Adytia Darmawan Afifah, Izza Nur AL BANNA, M. RIZQI HASAN Aldi Bayu Kreshnanda Ismail Alfan Rizaldy Pratama Alfan Rizaldy Pratama Pratama Ali Ridho Barakbah Amang Sudarsono, Amang Andri Permana W. ANUGERAH WIBISANA Apriandy, Kevin APRIANDY, KEVIN ILHAM Arif Hidayah Arif Hidayah Arini, Nu Rhahida Arna Fariza Bambang Sumantri Besari, Adnan Rachmat Anom Bima Sena Bayu Dewantara Darmawan, Adytia Dewanto Sanggar Dewanto, Raden Sanggar Dewanto, Raden Sanggar Dewanto, Sanggar Dewi Mutiara Sari Djoko Purwanto Edi Wahyu Widodo Eko Henfri Binugroho Eko Henfri Binugroho Eko Purbo Wahyono Endah Suryawati Ningrum Febby Ronaldo Hamida, Silfiana Nur Hary Oktavianto Huda, Achmad Thorikul Idris Winarno Ihsan Fikri Abdurahman Muharram Irene Erlyn Wina Rachmawan Ismail, Aldi Bayu Kreshnanda iwan Syarif Kevin Apriandy Luky Yanto M. Choirur Roziqin M. Unggul Pamenang Marta, Bayu Sandi Miyara, Akio Muhammad Ramadhan Hadi Setyawan Muharram, Ihsan Fikri Abdurahman Neny Kurniati Nurul Fahmi Nurul Fahmi Pamenang, M. Unggul R Sanggar Dewanto R. Dimas Pristovani R. Sanggar Dewanto Rachmawati, Oktavia Citra Resmi Raden Sanggar Dewanto Raden Sanggar Dewanto Riyanto Sigit Roziqin, M. Choirur Rudi Kurniawan Rully Sulaiman Ryan Satria Wijaya Samsul Huda Samsul Huda Sanggar Dewanto Sari, Dewi Mutiara Sesulihatien, Wahjoe Tjatur Setiawardhana Setiawardhana Setiawardhana, Setiawardhana Sigit Riyanto Sritrusta Sukaridhoto Subhan Khalilullah, Achmad Sukma Meganova Effendi Susanti, Puspasari Syadza Atika Rahmah Syahputra, Dimas Novian Aditia Teguh Hady Ariwibowo Tessy Badriyah, Tessy Tri Harsono ULURRASYADI, FAIZ W., Andri Permana Wahjoe Tjatur Sesulihatien Widodo, Edi Wahyu Wina Rachmawan, Irene Erlyn Wulandari Puspita Sari Wulandari Puspita Sari Yanto, Luky Zainal Arief