Design and implementation of humanoid robot arm

Since 1500s, basic structured robotic mechanisms with limited movements have become more functional nowadays via help of electronics and software. These modern robots that combine the human physical structure with robot mechanics power are used in applications that will make our life easier, especially in manufacturing. In addition, today's robots can show human behavior through advanced sensors and artificial intelligence applications. The aim of this work is to design and implement a humanoid robot arm, controlled by a main microcomputer, which is managed by interconnected microcontroller cards in the interconnected serial communication network. This work is based on the InMoov project, which was passed on by the French sculptor and designer Gael Langevin. The main aim of the InMoov project is to obtain physical similarity and humanlike movements to human beings. This design is based on a new forearm and hand design because the InMoov's design is not suitable for both internal structure and sensor placement because mechanical considerations are not taken into consideration. The designed forearms and hands were produced with 3D printer using PLA raw materials. Seven digital servo motors are used for finger and wrist movements. A force-sensitive resistor placed in the center of the palm can detect whether or not an object is in the palm. The fingertips are attached to the fingertip with a spring mechanism, so that flexible movement of the fingertips is possible. An Arduino Pro Mini, which detects the force-sensitive resistor in the palm of the hand, has a second Arduino Pro Mini in the forearm for servo motor controls. Arduino Mega is used as the main controller and the controller cards communicate with each other via I2C. The robot arm is controlled via serial communication or bluetooth.