2026-09-19T06:11:54Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/404582022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
H. Harry Asada.
Leeb, Adam Paul
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2008-02-27T22:27:52Z
2008-02-27T22:27:52Z
2007
2007
http://hdl.handle.net/1721.1/40458
191733116
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.
Includes bibliographical references (leaf 24).
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.
by Adam Paul Leeb.
S.B.
32 leaves
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by 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.
http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Anthro Arm : the design of a seven degree of freedom arm with human attributes
Design of a seven degree of freedom arm with human attributes
Thesis
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