Grasp system development for using with robotic devices / Desenvolvimento de sistema de preensão para utilização em dispositivos roboticos

AUTOR(ES)

Oscar Fernando Aviles Sanchez

DATA DE PUBLICAÇÃO

2008

RESUMO

The objective of this research is to develop a mechanical hand prototype with anthropomorphic characteristics. The main goal of this doctoral thesis is to project and assembly a five fingered anthropomorphic hand for research prehensile tasks. Initially the creation of a one DOF finger mechanical finger inspired on its human counterpart is proposed. the kinetostatic study was achieved by using the Assur groups method. The analysis for mimicking the movements of each finger was done through graphical solutions knowing the positions thanks to CAD software, allowing the calculation of forces and reactions over each joint, and the creation of data for solving the equations through MatlabTM. The first prototype was equiped with a FSRs sensor for force measurements. The force feedback is of great importance when interacting in the real world

ASSUNTO(S)

robotics bioengineering robotica bioengenharia biomechanics biomecanica

Documentos Relacionados

• Study for development of organic photovoltaic devices
• Desenvolvimento de dispositivos eletroquímicos descartáveis para análises rápidas
• A software development platform based on components for mobile devices
• Desenvolvimento de gerência SNMP para dispositivos de redes totalmente ópticas.
• Desenvolvimento de dispositivos bolométricos para detecção de radiação infravermelha distante = : Development of bolometric devices for far-infrared radiation detection