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Design & Manufacture of Anthropomorphic Robotic Hand for Rasa Robot

Shahrokhi, Mohammad | 2025

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 57980 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Taheri, Alireza; Meghdari, Ali
  7. Abstract:
  8. The design and construction of humanoid robotic hands play a crucial role in advancing human-robot interaction. In this study, a new robotic hand has been designed and developed for the Rasa social robot. This robot is intended to teach Iranian sign language to deaf children, and its new hand must be capable of grasping and lifting objects. To achieve this, various robotic hand structures were examined, and an optimized power transmission mechanism for the fingers, based on both flexible and rigid links, was selected. This design enhances the precision of finger movements and enables the execution of grasping and lifting operations. Additionally, a 3D printer was used to manufacture mechanical components, reducing production costs and increasing fabrication speed. The new robotic hand of the Rasa robot features 12 degrees of freedom (DOF), including 10 DOF for the fingers and 2 DOF for arm movements. The hand's control is localized, meaning the controller is embedded within the arm, to which all motors and sensors are connected. Moreover, five force sensors and a distance sensor are integrated into the design to provide accurate feedback on hand performance. The new Rasa hand, along with its attached arm, weighs 480 grams. To evaluate the performance of the robotic hand, various tests were conducted, including the Kapandji test, grip strength test, and everyday object grasping test. The results demonstrated the hand’s effectiveness and high precision. The new Rasa hand scored 7 out of 10 on the Kapandji test, successfully lifted a 4-kilogram object in the grip strength test, and in the everyday object grasping test, it picked up and lifted 10 objects from a table. The findings of this study indicate that utilizing flexible mechanisms alongside modern fabrication methods, such as 3D printing, can improve performance and reduce production costs for humanoid robotic hands. This design can also be applied in other robotic applications, including robotic prosthetics and human-machine interaction systems
  9. Keywords:
  10. Humanoid Robot ; Robotic Hand ; Human Robot Interaction (HRI) ; RASA Social Robot ; Twelve Degree of Freedom Dynamic Model

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