Team Robotic Hand

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Team Robotic Hand

• Aaron Lassig, Jared Wood, Cameron Sullivan
• Lassig2_at_gmail.com
  jared.jwood_at_gmail.com csulliva_at_eng.utah.ed
  u

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• Benchmarking
• Whats been done
• What we want to do
• How we are to do it
• Scheduling
• Where we are
• Where to go

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Previous Attempts
Shadow Dexterous Hand
Dist-Hand
Ultrasonic Motor Hand
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Our Requirements

• Physical design
• Anthropomorphic
• Power system
• Utilization of SMA wire to minimize size
  requirements
• Finger kinematics
• Ability to exert enough force to lift 10
  kg/finger
• Finger speed approx 1 Hz
• Angular motion similar to Human Hand

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To Accomplish Goals

• Design Prototype Finger
• Construct Linkages
• Determine Tendon Routing/Placement

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• Attach to Fluidic system
• Test and characterize ability of SMA wire

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• To date
• Narrowed project defined desireables.
• Next few steps
• Finalize prototype finger design
• Finalize prototype actuator
• Finalize prototype Power transmission
• Future
• SMA Characterization, to be done with prototype

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• SMA Benchmarking
• SMA Fluidic hand is unique
• Build 1st prototype to determine SMA behavior in
  hand environment
• On Schedule
• Finalize Prototype design Specifications by
  October 10th, begin construction immediately
  after.
• Update on Construction Oct 19th