1. Senior Design ET493 Fall 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. Initial Hand Design 1

4. 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

5. Ball Joint Socket
Slotted ball and snap joint for base knuckle

6. 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

7. 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

8. Gear Driven Finger

9. 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

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

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

12. Close up of stress concentration

13. 500N load, PLA Polymer
1.5mm Gear box cover

14. 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)

15. Questions?
Comments?
Concerns?

16. Thank you