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Optimize position to place joint of a finger in the slave hand of novel master slave system

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In this paper, the mechanism design and the optimization for the index finger’s joint position were discuessed in a novel suggested MS hand system. The finger was driven by a servo motor through the nutscrew system and the four-bar mechanisms. | Journal of Science & Technology 127 (2018) 011-015 Optimize Position to Place Joint of a Finger in the Slave Hand of a Novel Master-Slave System Nguyen Thanh Trung 1*, Truong Hoanh Son1 , Takashi Komeda2 Hanoi University of Science and Technology – No. 1, Dai Co Viet Str., Hai Ba Trung, Ha Noi, Viet Nam 2 Shibaura Institute of Technology, Japan Received: June 07, 2017; Accepted: May 25, 2018 1 Abstract Nowadays, the teleopration system in general, the master-slave (MS) hand in particular has been using popularly in many technology and manufacturing sectors. It easily and safely supports people in many risk and hard working jobs. Besides, in the medical field the MS system is also been using to tele-operate for the patients. In this paper, the mechanism design and the optimization for the index finger’s joint position were discuessed in a novel suggested MS hand system. The finger was driven by a servo motor through the nutscrew system and the four-bar mechanisms. The position, distances between joints of the finger were determined in advance by the avarage values of the adult people. The positon of rotational joints of the fourbar mechanisms was optimized in order to receive the minimum consumption power of the actuator. The simulation results shows that after optimizing the difference of power consumption between the maximum and minimum values is 6.27 times. And we found out the minimum position. Keywords: Teleoperation, master-slave hand, optimization mechanism, four-bar mechanism. 1. Introduction* finger. Thus, each finger is driven by only one actuator. In the four-bar linkage, there is one driven link that attack force to rotate the joint. The distance between joint of phalanxes is decided by the medium of mature people. As a result, the location of two joint’s driven link need to be found. In this study, we also suggested a method to find the optimal position of these joint. Teleoperation system permits the mission of human at a distance, and it was .