Inter-fingercoordinated DC motor driven grasping robotic hand
Name
566032913-MIT.pdf
Description
Full printable version
Size
2.1 MB
Format
Adobe PDF
Checksum (MD5)
dd807d02a80538a440ea197692d8fbc3
Author(s)
Wikman, Sarah Jane
Advisor(s)
H. Harry Asada.
Date Issued
2009
Publisher
Massachusetts Institute of Technology
Abstract
Many robotic hands have individually driven joints, which is both energy inefficient and complicated to control. An alternative method includes employing only one motor to control multiple joints. Investigating humanoid hand movements used in everyday tasks, graduate students working with Professor Asada discovered through Principal Component Analysis that a majority of these motions can be approximated by a grasping motion. Implementing PCA results on a humanoid robotic hand yields an inter-finger coordinated motion in which each of the four fingers closes towards the palm and each individual joint's velocity is linearly proportional to the others. The coordination is achieved through a system of pulleys with different radii. The cables used in conjunction with these pulleys, emulating tendons, will be driven by a DC motor for simple control of a complex hand mechanism. The thumb is excluded from this system as it functions differently from the remaining digits.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 16).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
permission. See provided URL for inquiries about permission.
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