Robotic Hand

Arduino UNO based robotic hand, using flex-sensors and servomotors

Jan 27, 2018

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arduino

robotics

robots

Devices & Components

Jumper wires (generic)

Hardware & Tools

Wire Welder

Project description

Code

arduino

The sensor values that you find in the code may be different for every project, depending on the servoMotors and on the position of the sensors. So you may need to change some values in order to make the servoMotors respond perfectly

1#include <Servo.h> 
2Servo myservo_pollice; 
3Servo myservo_indice;
4  
5Servo myservo_medio; 
6Servo myservo_anulare; 
7Servo myservo_mignolo; 
8
9int
10  pollice;
11int indice;  
12int medio;
13int anulare;
14int mignolo;
15
16
17void
18  setup() {
19  Serial.begin(9600);
20  myservo_pollice.attach(9);
21  myservo_indice.attach(10);
22
23  myservo_medio.attach(11);
24  myservo_anulare.attach(12);
25  myservo_mignolo.attach(13);
26}
27
28
29void
30  loop() {
31  pollice = analogRead(A4);
32  indice = analogRead(A3);
33  medio
34  = analogRead(A2);
35  anulare = analogRead(A1);
36  mignolo = analogRead(A0);
37
38   
39  Serial.println(mignolo);
40  
41  pollice = map(pollice, 90, 10, 0, 99);
42  
43  indice = map(indice, 20, 40, 159, 40);
44  medio = map(medio, 20, 40, 159,
45  40);
46 // anulare = map(anulare, 20, 40, 0, 179);
47  mignolo = map(mignolo,
48  20, 40, 159, 40);
49  
50  myservo_pollice.write(pollice);
51  myservo_indice.write(indice);
52  
53  myservo_medio.write(medio);
54  myservo_anulare.write(anulare);
55  myservo_mignolo.write(mignolo);
56
57  
58  delay(150);         
59}
60

#include <Servo.h> 
Servo myservo_pollice; 
Servo myservo_indice;
  
Servo myservo_medio; 
Servo myservo_anulare; 
Servo myservo_mignolo; 

int
  pollice;
int indice;  
int medio;
int anulare;
int mignolo;


void
  setup() {
  Serial.begin(9600);
  myservo_pollice.attach(9);
  myservo_indice.attach(10);

  myservo_medio.attach(11);
  myservo_anulare.attach(12);
  myservo_mignolo.attach(13);
}


void
  loop() {
  pollice = analogRead(A4);
  indice = analogRead(A3);
  medio
  = analogRead(A2);
  anulare = analogRead(A1);
  mignolo = analogRead(A0);

   
  Serial.println(mignolo);
  
  pollice = map(pollice, 90, 10, 0, 99);
  
  indice = map(indice, 20, 40, 159, 40);
  medio = map(medio, 20, 40, 159,
  40);
 // anulare = map(anulare, 20, 40, 0, 179);
  mignolo = map(mignolo,
  20, 40, 159, 40);
  
  myservo_pollice.write(pollice);
  myservo_indice.write(indice);
  
  myservo_medio.write(medio);
  myservo_anulare.write(anulare);
  myservo_mignolo.write(mignolo);

  
  delay(150);         
}

Code

arduino

1#include <Servo.h> 
2Servo myservo_pollice; 
3Servo myservo_indice;  
4Servo myservo_medio; 
5Servo myservo_anulare; 
6Servo myservo_mignolo; 
7
8int  pollice;
9int indice;  
10int medio;
11int anulare;
12int mignolo;
13
14
15void  setup() {
16  Serial.begin(9600);
17  myservo_pollice.attach(9);
18  myservo_indice.attach(10);
19  myservo_medio.attach(11);
20  myservo_anulare.attach(12);
21  myservo_mignolo.attach(13);
22}
23
24
25void  loop() {
26  pollice = analogRead(A4);
27  indice = analogRead(A3);
28  medio  = analogRead(A2);
29  anulare = analogRead(A1);
30  mignolo = analogRead(A0);
31   
32  Serial.println(mignolo);
33  
34  pollice = map(pollice, 90, 10, 0, 99);  
35  indice = map(indice, 20, 40, 159, 40);
36  medio = map(medio, 20, 40, 159,  40);
37 // anulare = map(anulare, 20, 40, 0, 179);
38  mignolo = map(mignolo,  20, 40, 159, 40);
39  
40  myservo_pollice.write(pollice);
41  myservo_indice.write(indice);  
42  myservo_medio.write(medio);
43  myservo_anulare.write(anulare);
44  myservo_mignolo.write(mignolo);
45  
46  delay(150);         
47}
48

#include <Servo.h> 
Servo myservo_pollice; 
Servo myservo_indice;  
Servo myservo_medio; 
Servo myservo_anulare; 
Servo myservo_mignolo; 

int  pollice;
int indice;  
int medio;
int anulare;
int mignolo;


void  setup() {
  Serial.begin(9600);
  myservo_pollice.attach(9);
  myservo_indice.attach(10);
  myservo_medio.attach(11);
  myservo_anulare.attach(12);
  myservo_mignolo.attach(13);
}


void  loop() {
  pollice = analogRead(A4);
  indice = analogRead(A3);
  medio  = analogRead(A2);
  anulare = analogRead(A1);
  mignolo = analogRead(A0);
   
  Serial.println(mignolo);
  
  pollice = map(pollice, 90, 10, 0, 99);  
  indice = map(indice, 20, 40, 159, 40);
  medio = map(medio, 20, 40, 159,  40);
 // anulare = map(anulare, 20, 40, 0, 179);
  mignolo = map(mignolo,  20, 40, 159, 40);
  
  myservo_pollice.write(pollice);
  myservo_indice.write(indice);  
  myservo_medio.write(medio);
  myservo_anulare.write(anulare);
  myservo_mignolo.write(mignolo);
  
  delay(150);         
}

Downloadable files

ServoMotor Scheme

How a seervomotor is connected to the microcontroller

ServoMotor Scheme

Flex-Sensor Scheme

How the sensors are connected to the microcontroller

Flex-Sensor Scheme

Circuit

All the circuits

Circuit

ServoMotor Scheme

How a seervomotor is connected to the microcontroller

ServoMotor Scheme

Flex-Sensor Scheme

How the sensors are connected to the microcontroller

Flex-Sensor Scheme

Sketch

A sketch that shows all the circuit using also a breadboard

Sketch

Circuit

All the circuits

Circuit

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EnrikENG

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