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PROJECT SUGGESTION FORM

DEPARTMENT OF MECHANICAL AND MANUFACTURING ENGINEERING

2016/17 Fourth Year Capstone Design Methodology and Application Course


Company Name: Autonomous Reconfigurable/Robotic System Laboratory (AR 2S-Lab) and 4Front Robotics Ltd.
Company Contact Person for Project:
Contact Name:

Dr. Alex Ramirez-Serrano

Phone:

(403) 220-3632

Mailing Address:

Dept. of Mechanical & Manufacturing Eng., SSE, UofC, 2500 Univ. Drive NW, Calgary, AB

email:

aramirez@ucalgary.ca

Project Title: Reverse Engineering of a 3 finger robot hand


Brief Project Description:

The AR2S-Lab has been developing 3-finger under-actuated as well as high-speed robot hands for the past 7 years
sometimes using tendons and sometimes using direct drives for finger articulation. In previous years a complete 9
degrees of freedom (DOF) 3-finger under-actuated robot hand was designed (Fig. 1). The next step in this project
is to design and manufacture a 3-finger robot hand actuated by three RX-28T Dynamixel servo motors. The new
design will use a previous designed robot fingers design (Fig. 1) and couple it with a robot hand design developed
by Robotis (Fig. 2). This project is primary a mechanical design project with some elements of electronics used to
fully provide actuation to the hand. The goals of this project are
Design a human size right and left robot hand by mirroring one hand
to generate the other.
The team will reverse engineer the Robotis hand design (Fig. 2)
using a slightly modified finger design that will be provided to the
team (Fig 1).
Each finger will be fully actuated by a Dynamixel RX-28T motor
and be able to flex as the finger closes over an object.
The hand will include a universal mechanical and electrical wrist
attachment so that it can be mounted to a number of robot arms
available in the market.
Fig 1: Robot hand developed in the
The hands must be inexpensive ($250 including manufacturing),
AR2S-Lab at UofC.
very light yet robust and powerful enough to hold and support
objects weighting 5 Kgs. A urethane fingertip will need to be
included to enable the hand to effectively grasp objects without
allowing it to slip from the hand as the robot arm moves it a high
speed.
The hand design should be effective yet simple to manufacture so that it
each hand (left and right) uses common components and all parts can be
manufactured with a budget of about $250 per hand including fasteners
but not including the motors or sensors to be placed on the finger tips.
The tasks to be performed include CAD design, kinematic & dynamic
analysis of the hand, and production of a right and left hand prototypes.
Students will start with an existing design and perform reverse
engineering tasks including stress and motion analysis, etc.
Fig 2: Robot hand developed by
Robotis.

IMPORTANT NOTE: Students will meet with the project sponsor on a weekly basis (staring on the 2 nd week of
the academic term).

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