1. Senior Design ET494 Spring Semester
Robotic hand
David Cothell
Chad Newberry
Steven Walker

2. 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

3. 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

4. Design 2
This design was intended for use of worm gears and flex shafts to actuate the fingers
Worm Gear & rotary flexshaft driven finger design
Side view
Front

5. 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

6. Gear Driven Finger
Actuators will drive the second finger section to curl once a certain degree is reached

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

8. Design Design 3 Bowden Cable Design
This design uses Bowden Cables, a cable inside of tight channel or sleeve.
Bowden Cable Design
Tip of finger showing cable channel

9. Bowden Cables
Flexible cable that allows for push and pull force transmission

10. Mechanisms of Actuation
Linear Screw Actuator
Rack and Pinion

11. Deliverables Final Hand Design Controls Working Hand Analysis
Bill of Materials
Working Hand

12. Time Line
January 13st-31st: Revisit initial 3D modeled hand design (cable controlled). Re-evaluate hand, finger, and thumb construction for cable mechanics. Raspberry Pi/ Python research (integrating with the motors) February 1st – 29th: Calculate stress/ strain of new hand design. Calculate stress/ strain of Vero White Plus Full 835 (3D print material). Administer stress strain analysis using ComSol. March 1st – 29th: 3D print all initial components of cable controlled hand. Review physical assembly of the 3D printed hand. Determine any discrepancies and adjust accordingly.
April 1st -17th:
Correct physical discrepancies found in the 3D printed model.
Reprint the “corrected” cable mechanized hand design.
April 18th -30th:
Evaluate physical hand mechanization and articulation.
Reprint (if necessary) secondary corrected hand.
Reevaluate physical hand mechanization and articulation.
May 1st -10th:
Refine hand movement.
Refine final proposal.

13. Questions?
Comments?
Concerns?

14. Thank you