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Abstract
In this paper it is presented the design of a
mechanic hand, for a future use in a tele-operated
project, which counts with movements closed to those
made by a human hand, due to the number of joints (22
DOF) and to its structure built from the wrist; giving
relative movement between knuckles, keeping a
relationship of three mean flexible arcs that give
bigger work space and better behavior to grasp
voluminous and shapeless bodies, making difference of
anthropomorphic hands presented in other mechanics
designs based on the rigid palm.
2. Project description.
The future project has the main objective of
developing a work tool, without a specific use,
obtaining a general and versatile solution to different
work fields.
There exists situations where the human dexterity is
required to manipulate objects, but the environment in
which it unrolls might be dangerous for human
presence, besides, it is possible that somebody not in
the place is required. That is why is necessary to bring
the its abilities to a specific place, and that his abilities
might be repeated with human dexterity.
The description of the project is presented in the
following diagram:
1. Introduction.
In recent years, solutions for anthropomorphic
hands have been presented[1-3], each one of these
achieving to complete posture and trajectory more
proximate to those found in the human hand,
nevertheless, completed results have never been
presented, being that there is still work spaces that a
human hand can reach, and these solutions cant, for
example, the solutions developed use a palm with a
plane and rigid shape, use very simplified mechanisms
for the little finger and the ring finger; in other words,
they have a kinematic model simplified[4].
The main topic for this research is the development
of an anthropomorphic hand, basing his structure in
three main arcs of the human hand[5], to obtain a palm
with flexible curves.
The importance of studying this design, based in
flexible arcs, is due to the human hand and its ability to
have a mayor surface contact with big volumes,
offering a mayor subjection and manipulation of these.
Solutions previously proposed without these arcs, have
failed to truly recreate the grasping of spherical and
voluminous objects[4].
The principal objective is to create a mechanic
hand, with the capacity to partially recreate the kinetic
of the human hand.
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4. Mechanics simplifications.
To obtain the longitudinal outlines of the fingers, a
design of variable outlines was required, which is
expensive in its manufacture. A proposal to simplify is
the use of an aluminum tube and work after it to obtain
the longitudinal outlines of each phalange. As it is
showed is figure 5, the pieces of red tone constitute the
structure and works as the phalanges of the fingers.
A mechanic simplification exists when the fingers
are flexed, and it can be applied without compromising
the objective of the project, due to a relation in the
relative angle between the distal and medial phalange,
with the relative angle between medial and proximal
phalange of the index, middle, ring and little fingers[6].
Improvements are presented over the referenced thesis
to achieve more closed trajectories in the last phalange
of the fingers from II to V.
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5. Functional design.
In each phalange was built an outline to carry out
with characteristics alike in shape with those in the
human hand, with a final vision of making it capable of
grasp objects with different shapes, and open to the
possibility of adding a material that works as skin,
besides, that can cover the tendons that goes through
the middle of the phalange.
During all the design, a special care was made to
look that every angle; every joint, has the same run to
that found in the human hands, so it was needed to
generate special outlines and pieces.
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Figure 11. Inertial bases for the thumb and the little
finger.
Afterwards, a trajectory is proposed and the data is
introduced to all degrees of freedom, with the idea to
make the hand to go from a close position in fist-shape,
to a completely open position.
The evaluated results are presented for the little
finger; the graph for the finger II, III, and IV have very
alike shapes to those showed for this finger.
7. Conclusions.
It can be verified in figure 9 that the use of flexible
arcs in this design, allows a better subjection and
bigger work space for different volumes. Likewise, in
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figure 10, they allow the contact between the thumb and
9. Acknowledgements.
We thank CONACYT for the support and the
scholarship, and PAPIIT for the financing for the
project.
We also thank all the people that gave us advising.
8. References.
[1] Frank Rthling, R.H., Jochen J. Steil, Helge Ritter,
Platform anthropomorphic grasping with the bielefeld
20-DOF shadow and 9-DOF TUM hand. IEEE/RSJ
international conference on intelligent robots and
systems, 2007.
[2] D. W. Zhao, L.J., H. Huang, M. H. Jin, H. G. Cai,
H. Liu, Development of a multi-DOF anthropomorphic
prosthetic hand. IEEE International conference on
robotics and biomimetics, 2006.
[3] Chistian Cipriani, M.c., M. Chiara Carrozza,
Progress towards the development of the smarthand
transradial prosthesis. IEEE 11th international
conference on rehabilitation robotics, 2009.
[4] Skyler A. Dalley, T.E.W., Thomas J. Withrow,
Michael Goldfarb, Design of a multifunctional
anthropomorphic prosthetic hand with extrinsic
actuation. IEEE/ASME transactions on mechatronics,
2009.
[5] Nordin, M., et.al., Basic biomechanics of the
musculoskeletal system. 2nd ed. 1980: LEA &
FEBIGER.
[6] Aguilar Romero, E.F., Lpez Batiz, Germn,
Manipulador Antropomrfico Teleoperado II, in
Departamento de mecnica. 2001, Universidad
Nacional Autnoma de Mxico: Ciudad de Mxico.
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