This is a few images of my First class undergraduate BSC Robotics degree project.
The ‘cage scene’ contains actors, human robots and completely animatronic puppets controlled by rods, hydraulic, pneumatics and completely remote controlled, all operated by 46 puppeteers and technicians.
- To design and construct a robotic arm and hand, capable of lifelike movement
- Send data from a user data glove, to the robotic arm
- Servo actuators to control the movement of each finger and thumb separately
- Make it look lifelike by making a skin from latex.
- Fully controllable wireless hand
- Lifelike size – based upon real measurements
- Good movements
- Capable of multiple movements though limited to 10 Degree of Freedom at joints
I must update this video with one that shows it working before the servos broke! full articulated motion on the fingers is possible including the ability of playing paper scissors stone using a plug in keyboard and also demonstrating full right hand sign language (american) by typing on the keyboard.
Wireless glove mode:
TX data glove:
]The wireless data glove uses flex sensors to determin the angle bent on 10 DOF in the fingers. These are sent through a analogue multiplexor to a analogue input of a Picaxe chip. The analogue value is stored as an 8 bit binary (displayable via LED’s – this mode is selectable) The analogue values are then wirelessly sent through 433MHz to the receiver in the arm. This is using a unique packet which allows the receiver to read correct values in the correct order to the right fingers.
RX hand unit:
The receiver end of the arm reads in the packet of values and asigns the values to register for the appropriate finger, The fingers are then told to adjust to the new values by mapping the range to servo movement and is moved accordingly.
If the finger switches are pressed, the finger know it is holding something and therefore will no longer move further into the closed position. If the new value is greater than the current value when the switch is pressed, this is seen as a reopening movement and the fingers will be allowed to open.
In keyboard sign language mode, the fingers move to the postion best suited to display the particular letter that has been pressed.
In paper scissors stone mode, a position relating to all 3 is randomly selected and compared to that of a keyboard selection by the player. the fingers move to show the paper (flat fingers) scissors (2 fingers flate and rest curled) or stone (all curled). An LCD display then displays the selection and who the winner is. The game then resets and asks do you want to play?