Robotic Hand - Prototype by Apurva Mishra

             The robot is made Completely out of meccano parts barring the motors and the cases of
the motors. Meccano was preferred over designing and manufacturing parts ourselves as we lacked the
necessary experience for it. Moreover we found meccano convenient for building a prototype, as then
all our efforts were concentrated on designing and assembly. 
            The robot has five degrees of freedom, capabilities like 180-degree wrist movement, two
single joint fingers, and an expandable palm. Basically, a robotic hand till the elbow.
            The mechanical assembly is powered by a total of five dc motors, three for the robot arm
movement, one for the wrist movement, one for the elbow movement and one for the forearm movement.
We have selected dc motors with high torque and low rpm, as we want the robotic hand to be slow but
accurate. Stepper motors were not used as they did not fit into our budget and the setup for their
gear reduction wasn’t fitting into the designed
skeleton.                                                                                                                                                                                                    
             The robotic hand is interfaced with the computer through a circuit connected to the
parallel port of the computer. Mux/demux was preferred over relays as the circuit with mux/demux is
compact compared to the circuit with relays, which would have required 16 relays as per our design.
Secondly, a greater no. of motors can be controlled using mux/demux for the given no. of port pins
available. 
            The desired action of the robotic hand is controlled with the help of software in ‘c’.
We have used c because of our familiarity with the language.
 
 
                                     COMPONENTS
MECHANICAL                                           
 
1] ANGLE GIRDER                                                   
2] PERFORATED STRIPS                                                
3] FLAT GIRDERS                                                     
4] f-unions                                                         
5] t-unions                                                         
6] 57 TEETH SPREE GEAR                                       
7] 19 TEETH PINION
8] WORM GEAR
9] 19 TEETH PINION
10] 95 TEETH GEAR WHEEL
11] SCREW ROD
12] 3-H COUPLINGS
13] COLLARS
14] 5-H COUPLINGS
15] BUSH WHEEL
16] DOUBLE ANGLE STRIPS
17] OBTUSE ANGLE BRACKET
18] 19.5’’ SHAFT
19] TENSION SPRING
20] SCREW ROD ADAPTOR
21] GEAR WHEEL 
22] 2 WORM GEAR
23] COLLARS
24] BUSH WHEEL
25] WORM GEARS
26] GEAR WHEEL 97 TEETH
27] 19 TEETH PINIONS
28] BEARING
29] DOUBLE BRACKET
30] PERFORATED STRIP
31] ANGLE BRACKET
32] 4 DC MOTORS (10 KG TORQUE,18rpm)
33] 2 DC MOTORS (18 KG TORQUE,12rpm) 
34] SPRING CLIP
35] NUTS
36] BOLTS
37] FLANGED PLATE
38] TENSION SPRING
39] GRUB SCREW
 
 
ELECTRONIC
 
1] TRANSISITORS-
           A] DARLINGTON TRANSISITORS –
                          1.2N3904
                          2.TIP31C 
            B] C547B
            C] 8840  
 
2] RESISTORS-
            A] 68 OHM
            B] 1 K OHM 
            C] 470 OHM
            D] 10 K OHM 
            E] 220 K OHM
 
3] CAPACITORS-
            A] 0.1 MICRO FARAD
            B] 470 MICRO FARAD
 
4] DIODE-
            A] IN4007
 
5] SEMICONDUCTORS
            A] 4503 (TRI STATE BUFFER)
            B] 4050 (BINARY TO HEXADECIMAL CONVERTER)
            C] 4515 (1:4 MUX/DEMUX)
            D] MOC3023 (OPTOISOLATOR)
 
6] PRINTED CIRCUIT BOARD
 
7] CONNECTING WIRES
 
 
 
 
 
 
Email: apurvamishra@rediffmail.com
 

Return to The Robot Menu