Senior Design ET493 Fall Semester Robotic hand David Cothell Chad Newberry Steven Walker

Design Goal To create a fully functioning hand that will mimic human functionality in real time through remote control. Create a 3-D model using Solid Works software Utilize a 3-D printer for assembly & physical trials

Initial Hand Design 1

Design1 This design was intended for use of cables to actuate the fingers in a curling motion Cable driven hand with ball and socket base knuckle joints

Ball Joint Socket Slotted ball and snap joint for base knuckle

Design 2 This design was intended for use of worm gears and flex shafts to actuate the fingers Worm Gear driven base knuckle- Side view Front

Thumb Design This is a thumb segment utilizing a ball and socket base with two linear actuators to give movement in the x, y, and z direction

Gear Driven Finger

Actuator Assembly Actuators will drive the second finger section to curl once a certain degree is reached Slotted actuator that is inserted on the side of the finger section

Design 3 Design This design uses a cable inside of tight channel or sleeve Tip of finger showing cable channel

Simple Comsol Static Analysis 500N load, PLA Polymer Side view of first finger segment, fixed on gear axel

Close up of stress concentration

500N load, PLA Polymer 1.5mm Gear box cover

Deliverables Research Hand Mechanization (motors, cables, springs, etc.) Research of computer control boards (arduino, raspberry, beagle, etc.) Design/Edit existing hand model Create assembly drawings for the hand and all components 3-D model hand (digital) 3-D printed hand (physical)

Questions? Comments? Concerns?

Thank you