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Abstract

This paper aims to present a novel robotic hand system which is called Erciyes-1. The Erciyes-1 robotic hand is a multi fingered dexterous hand. The aim of the design of the Erciyes-1 is to increase capabilities of the robotic hands. The hand comprises of five fingers (four fingers and one thumb), each fingers having three degrees of freedom (DOF) and thumb has 4 degrees of freedom (DOF), which can perform grasping, manipulating and exploring. For the actuation purpose, dc servomotors are used and these motors integrated in the finger's joints directly. A novel thumb mechanism was developed on Erciyes-1 for reach maximum moving capability in the variety of positions. Additionally, a new force measurement system applied on the end points of the fingers. The paper exemplifies the design for the robotic hand and presents the forces produced at each finger's endpoints of the robotic hand. Also, the standard PID has been applied for control of the joints. A new thumb mechanism and force measurement system have been given perfect results for the movement capabilities and force measurements of the fingers. The new thumb mechanism provides better moving capality for the hand mechanism than the robotic hands built before.