Anthro Arm : the design of a seven degree of freedom arm with human attributes
Name
191733116-MIT.pdf
Description
Full printable version
Size
1.98 MB
Format
Adobe PDF
Checksum (MD5)
b0971254e219fada3f75860152e6b8c6
Author(s)
Leeb, Adam Paul
Advisor(s)
H. Harry Asada.
Alternative Title
Design of a seven degree of freedom arm with human attributes
Date Issued
2007
Publisher
Massachusetts Institute of Technology
Abstract
Studying biological systems has given robotics researchers valuable insight into designing complex systems. This thesis explores one such application of a biomimetic robotic system designed around a human arm. The design of an anthropomorphic arm, an arm that is similar to that of a human's, requires deep insight into the kinematics and physiology of the biological system. Investigated here is the design and completion of an arm with 7 degrees of freedom and human-like range of motion in each joint. The comparison of actuation schemes and the determination of proper kinematics enable the arm to be built at a low cost while maintaining high performance and similarity to the biological analog. Complex parts are built by dividing structures into interlocking 2d shapes that can easily be cut out using a waterjet and then welded together with high reliability. The resulting arm will become part of a bionic system when combined with an existing bionic hand platform that is being developed in the Intelligent Machines Laboratory at MIT. With a well thought out modular design, the system will be used as a test bed for future research involving data simplification and neurological control. The completion of the anthropomorphic arm reveals that is indeed feasible to use simple DC motors and quick fabrication techniques. The final result is a reliable, modularized, and anthropomorphic arm.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.
Includes bibliographical references (leaf 24).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
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