Design and wireless control of anthropomorphic robotic arm

摘要

The design and implementation of a gesture controlled anthropomorphic robotic arm is proposed. The robotic arm is designed in such a way that it consists of four movable fingers, each with three linkages, an opposing thumb, a rotating wrist and an elbow. The robotic arm is made to mimic the human hand movements using a hand glove. The hand glove contains 5 linear slide potentiometers for controlling the finger movements and an accelerometer for the wrist and elbow movements. The actuators used for the robotic arm are servo motors. The finger movements are controlled using cables that act like the tendons of human arm. The robotic arm is controlled from a distant location using a wireless module. A prototype of the robotic arm was constructed and tested for various hand movements.