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Team Robotic Hand Mechanics

Team Robotic Hand Mechanics. www.shadowrobot.com/gallery.shtml?gallery=handC&img=HandC_CRW_9344.jpg. Evan Coombs (evan_coombs@hotmail.com) Bryan Adams (bsasdams@yahoo.com) Robert Poulsen (robbiepoulsen@msn.com) Tyson Skinner (teskinut@hotmail.com). Overview. Current Products

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Team Robotic Hand Mechanics

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  1. Team Robotic Hand Mechanics www.shadowrobot.com/gallery.shtml?gallery=handC&img=HandC_CRW_9344.jpg Evan Coombs (evan_coombs@hotmail.com) Bryan Adams (bsasdams@yahoo.com) Robert Poulsen (robbiepoulsen@msn.com) Tyson Skinner (teskinut@hotmail.com)

  2. Overview • Current Products • Previous Design Teams Work • Prototype • Transmission • Finger • Budget • Schedule 12/07/2006 Team Robot Hand Mechanical

  3. Current Products • Existing Hand Designs: • SMA Actuation • Motor Controlled Hands • Air Muscle Actuated Hands • Anthropomorphic Design 12/07/2006 Team Robot Hand Mechanical

  4. Current Products SMA Wire • Shape Memory Alloy (SMA) • Products available • Wires • Springs • Pistons • Actuation Types • Electrical Current • Water • Any Temperature Changing Media http://www.smelectronics.us/microwavecablesman.htm SMA Spring http://www.robotstore.com/store/product.asp?pid=85&catid=1570 12/07/2006 Team Robot Hand Mechanical

  5. Current Products:SMA Actuated Pantograph Robot Overall View: Pantograph Robot Front View: SMA wire Attachment SMA Wire http://users.rsise.anu.edu.au/~roy/SMA/pantograph/panto_front.html • Actuation by Electric Current • Fast Actuation - 1Hz http://users.rsise.anu.edu.au/~roy/SMA/pantograph/panto_big.html 12/07/2006 Team Robot Hand Mechanical

  6. Current Products:SMA Actuated Spring Piston SMA Spring Piston • Electric Current Actuation www.robotstore.com/download/EPiston_Instr_V12.pdf , page 2, Figure 1 12/07/2006 Team Robot Hand Mechanical

  7. Current Products:The Southampton Hand • Anthropomorphic • Uses tactile feed back • Electric Motor actuation The Southampton Hand www.ecs.soton.ac.uk/~phc/The_Southampton_Remedi_Hand.jpg 12/07/2006 Team Robot Hand Mechanical

  8. Current Products: Pneumatic Actuation Under-Actuated Design: Deformation to Allow Grip wwwrobot.gmc.ulaval.ca/recherche/theme04_a/ClosingSequence.jpg.html • Pneumatic Actuation • Extensive Gripping Potential wwwrobot.gmc.ulaval.ca/recherche/theme04_a/ mainpneumatique.jpg.html 12/07/2006 Team Robot Hand Mechanical

  9. Current Products:The Shadow Hand • Pneumatic Actuation • Anthropomorphic • 24 degrees of freedom Shadow Hand www.shadowrobot.com/gallery.shtml?gallery=handC&img=HandC_CRW_9331.jpg 12/07/2006 Team Robot Hand Mechanical

  10. Current Products:Anthropomorphic Design Hollow Bone Model of Finger www.ai.mit.edu/projects/humanoid-robotics-group/Abstracts2000/banks.pdf#search= %22shape%20memory%20alloy%20%2B%20finger%22 12/07/2006 Team Robot Hand Mechanical

  11. Previous Teams’ Contributions • Finger • Transmission • Actuation Actuation Block Transmission Finger Assembly 12/07/2006 Team Robot Hand Mechanical

  12. Previous Year’s Finger • U-channel links • No extension capability • Unpredictable tendon connections Larger “U” channels Last Years Finger Design Tendon connections

  13. Previous Year’s Transmission • Poor functionality • High friction pulley system • Bulky design • Too complex Bulky chain-link components High friction pulleys Last Years Transmission Design 12/07/2006 Team Robot Hand Mechanical

  14. Previous Year’s Actuation • Poor seal • Too small to incorporate all functions 4x4 Array block Leaky connections Last Years Actuator Design 12/07/2006 Team Robot Hand Mechanical

  15. What’s cool about the project • Our design will have a controlled flexion and extension • Will have multiple fingers • Will be more anthropomorphic 12/07/2006 Team Robot Hand Mechanical

  16. Prototype Goals • Prototype Components • Transmission • Finger Assembly • Reason For Choice • Essential for Construction • Major Problems for Previous Design Team • What Can Be Learned • Determine Design Feasibility • Determine if Design Goals Can Be Met 12/07/2006 Team Robot Hand Mechanical

  17. Prototype-Transmission Solid Model Transmission Design • Components: • Shape Memory Alloy (SMA) Springs • End Plug • Silicone Boot Team Robotic Hand Mechanics 2007 Transmission CFP Silicone Boot Internal SMA Springs Water Flow Port End plug Team Robotic Hand Mechanics 2007 12/07/2006 Team Robot Hand Mechanical

  18. Transmission Function Fully Extended ADD HOT WATER Fully Contracted Force=2.2 lbs 12/07/2006 Team Robot Hand Mechanical

  19. Prototype-Transmission • SMA Springs • Pros: • Reduced Size • High Displacement • 20 mm • Lower Actuation Temperature • Minimized Friction • Cons: • High Cost • Low Strength • 3.4 N SMA Spring http://www.robotstore.com/store/product.asp?pid=85&catid=1570 12/07/2006 Team Robot Hand Mechanical

  20. Prototype-Transmission Solid Model End Plug Design • End Plug • Pros: • Reduced Size • Easily Modified • Cheap • Reduces Chance of Fluid Loss • Cons: • Not a COTS part • 90 min. Machine Time Actuator Attachment Point Water Flow Port SMA Spring Attachment Point Water Flow Port Team Robotic Hand Mechanics 2007 Actuator Attachment Point Machined End Plug SMA Spring Attachment Point Water Flow Port Team Robotic Hand Mechanics 2007 12/07/2006 Team Robot Hand Mechanical

  21. CFP-Transmission Silicone Boot Solid Model • Silicone Boot • Pros: • Reduced Friction • Displacement Similar to SMA Springs • Small Force Required to Induce Flexion and Extension • Cons: • Not a COTS Parts • Difficult to Manufacture Team Robotic Hand Mechanics 2007 Partial Silicone Boot Team Robotic Hand Mechanics 2007 12/07/2006 Team Robot Hand Mechanical

  22. Prototype-Transmission Split Mold • Silicone Boot Mold • Pros • Custom Design • Easy to Make Multiple Boots • Easily Altered Design • Inexpensive • Cons • Intensive Initial Construction • Equipment Setup and Adjustment (10 Hours) • Software Setup and Debugging (15 Hours) • Core Pin (1 Hours) • Outer Mold (2 Hours) • Centering Block (1 Hours) • Insufficient Silicone Flow in Mold Team Robotic Hand Mechanics 2007 Fully Assembled Mold Team Robotic Hand Mechanics 2007 12/07/2006 Team Robot Hand Mechanical

  23. Prototype-Finger Cross-Sectional View of Proposed Finger Design Reverse Bias Cams • Pros: • Flexion and Extension • Low Friction • Light Weight • Anthropomorphic Design • Precision • Reverse Biasing • Tendon Attachment • Cons: • Cams Need Refinement • Machinability of Material • Tendon Routing Finger structures Tendons Stand Team Robotic Hand Mechanics 2007 Finger CFP Finger structures Reverse Bias Cam Stand Team Robotic Hand Mechanics 2007 12/07/2006 Team Robot Hand Mechanical

  24. Cost • RobotStore.com • SMA Springs $41.95 • Cabelas • Kevlar Thread (tendon) $3.99 • McMaster-Carr • Set Screws $9.96 • Dowel Pins $8.40 • Bearings $27.60 • Stand Mat. $11.49 • Finger Mat. $13.88 • Sleeve Mat. Donated • Aluminum Stock Donated • CNC Machine Time Donated • Total $117.27 • Budget Left $82.73 12/07/2006 Team Robot Hand Mechanical

  25. Schedule • Future Accomplishments • Refine CFP • Spring Strength 12/8/06 • Actuator Design 3/1/07 • Cam Design 3/1/07 • Wire Routing 4/1/07 • Complete Palm Design 4/1/07 • Implement Finger into Whole Hand 4/27/07 12/07/2006 Team Robot Hand Mechanical

  26. Summary • Current Products • SMA Wire Actuation • Electric Motor and Air Actuation • Previous Design Teams Work • Prototype • Transmission • Finger • Cost • Only spent about $120.00 • Schedule • On Schedule • 4 Fingers Assembled to Palm by April 2007 12/07/2006 Team Robot Hand Mechanical

  27. Questions? • Team Members: • Evan Coombs: evan_coombs@hotmail.com • Bryan Adams: bsasdams@yahoo.com • Robert Poulsen: robbiepoulsen@msn.com • Tyson Skinner: teskinut@hotmail.com • Project Advisor: • Dr. Stephen Mascaro: smascaro@mech.utah.edu 12/07/2006 Team Robot Hand Mechanical

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