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Design and Analysis of a Force-Isotropic Underactuated Humanoid Hand

Alizadeh, Milad | 2012

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 42755 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Zohoor, Hassan
  7. Abstract:
  8. Robots have been widely used for various applications, especially during the last decades. Robots are made of several parts, in which, "Hand" is one of the most important of those. Hands are designed according to their applications and are not necessarily like human ones. Development of humanoid robots, however, brings a special place to human-like hands. In this research, a force-isotropic underactuated finger with two phalanxes and one actuator is designed, considering design limitations and through static analysis. Tendon, cam and mechanical lock (ratchet gear) are among the main components which have been considered in the finger design. Then, a model was fabricated and tested in order to verify the accuracy and precision of the design. Results show up to 33 percent error which can be interpreted through friction in the actual mechanism, fabrication restrictions and change in the tendon length. However, improving fabrication method and using a less elastic cable as tendon can considerably decrease error. Following the test, finger adaptability with various geometries were checked which indicates reasonable match with the design. Afterward, an arrangement of the fingers in the hand was proposed. Also by using movable pulley as a differential mechanism, the desired hand was designed and finally, the hand ability to grasp different shapes was investigated
  9. Keywords:
  10. Underactuated System ; Cam and Tendon ; Ratched-Gear ; Force-Isotropic

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