Team Robotic Hand Mechanics

www.shadowrobot.com/gallery.shtml?gallery=handC&img=HandC_CRW_9344.jpg

Tyson Skinner (teskinut@hotmail.com) Rob Poulsen (robbiepoulsen@msn.com) Bryan Adams (bsasdams@yahoo.com) Evan Coombs (evan_coombs@hotmail.com)

Team Robotic Hand Mechanics

www.shadowrobot.com/gallery.shtml?gallery=handC&img=HandC_CRW_9344.jpg

Presenting today: Tyson Skinner Robert Poulsen

Outline
Problem definition Last years design Customer needs Whats cool about the FINGER! Project focus Conclusion

9/25/2006 Team Robot Hand Mechanical

Problem Definition
Show capabilities of SMA wire Incorporate SMA wires into anthropomorphic finger/ hand Improve previous years
Finger design Tendon attachments Transmission Actuation block
9/25/2006 Team Robot Hand Mechanical

Last Years Finger

U-channel links No extension capability Unpredictable tendon connections
Last Years Finger Design

Larger U channels

Tendon connections

Last Years Transmission

Poor functionality
High friction pulley system
Bulky chain-link components

Bulky design
Too complex
High friction pulleys
Last Years Transmission Design

Last Years Actuation

Poor seal
4x4 Array block

Too small to incorporate all functions

Leaky connections

Last Years Actuator Design

Customer needs
Prosthetic device
Anthropomorphic

Large number of degrees of freedom Wide range of motion

9/25/2006 Team Robot Hand Mechanical

Whats cool about the FINGER!

Our design will have a controlled flexion and extension
Will have multiple fingers

Will be more anthropomorphic

9/25/2006 Team Robot Hand Mechanical

Project Focus: Buy or Build?

Build New finger(s) Design New actuator block
4x4

Buy Small precision components such as:

Pulleys Bearings Connectors

Transmission Design

Material

9/25/2006 Team Robot Hand Mechanical

Summary
Problem definition Last years finger, transmission and actuation design Customer needs Whats cool about the FINGER! Project focus: Buy vs. Build

9/25/2006 Team Robot Hand Mechanical

Questions?

9/25/2006 Team Robot Hand Mechanical