The robotic Hand:
The Hand is designed as close as possible to the human hand articulation. For this pass
this will do. For simplicity, the thumb will have it's own tendon, and the other four fingers
will share two tendons. This has been tested and it works will for the hand to hold circular
or oval shapped objects.
The robotic Hand will also be used with the torsoHead, GorakOne and GorakTwo.
As of now the robotic hand will not be offered as a stand alone product. Unless investors can see a gain
and consider the cost of maintaining it as a stand alone product.
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The Beginning:
The robotic Hand started with simple models, made from cardboard, balsa wood, epoxy, polyurethane and ...
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(
GIANT ROBOT FINGER ASSEMBLY,
Give Yourself a Hand,
ROBOT HAND ASSEMBLY
)
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Simple finger models
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Some made from balsa wood and plastic
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Balsa wood model hand
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Model showing unique knuckle joint design
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Showing important measurements
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Model showing finger action same as human
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The robotic Hand on October 2006:
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First pass at trying the unique joint knuckle aproach shown above. This pass failed,
since the knuckle joint design seems to only work with rectangular finger segments.
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The robotic Hand Palm Down, showing back of hand, index finger, and thumb. This design is closer to the real humand hand structure. But it did not pass, since the knuckles should have been "mirror image" of each other
to line up. Notice that most of the palm is made of wood, for the prototypes, is cheap and quick turnaround.
This design will be the committed design and will eventually be made all from polyurethane materials.
New mirror image knuckles are being made to complete this SIMPLE hand design.
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Back of palm view. The human hand knuckles are not in a straight line, and neither are the sbcRobotics
robot hands. The knuckle alignments were carefully measured and copied from a real human hand.
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The sbcRobotics robot hand showing thumb and index finger touching. The palm is also showing, minus the
mechanics for moving the fingers. Also the palm will be covered by a flexible material and proportioned to
the real human hand. In these pictures the fingers are always longer than normal since this "palm cover"
is missing.
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The human hand knuckles do not line up in a straight line, and neither are the sbcRobotics robot hands.
The knuckle alignments were carefully and quickly measured using twist drill bits, as
measuring tools, since a human subject cannot sit motionless for too long and not affect the accuracy of
the measurements.
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Fixture for holding an index finger segment for rework. These are the few parts that need to be
machined. This fixture will be used on a precision miniature lathe.
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This photo shows the work that needs to be done to rework the hand's fingers and knuckles.
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The robotic Hand on November 2006:
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Back of palm view. At this time the hand is closer to mechanically complete.
Currently this view is of a provisional back of the hand
cover. This is for the time being and the intended back of the hand will made
of the same material as the finger tips. Made from a Urethane RTV, that cures
to a flexible and high strength Shore-A 30 rubber.
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This view is of the hand with fingers closed on GorakOne's left wrist. This same hand design will
be also used on the torsoHead, and GorakTwo.
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Same view of the current hand design on GorakOne left wrist. In this view
the hand palm is facing up. The wrist in this design can allow the hand to
have the same dexterity as the human wrist. The wrist can allow the hand
to rotate almost 360 degrees. In this view most of the linkages to the brakes
and clutches have been left out.
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This view is of the hand with index finger extended and palm up.
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In this view the hand palm is open and facing the front of GorakOne's face.
Near the left compound eye. In the background is the thermostat on the wall.
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This view is of the palm open but turned away from the front of GorakOne's
left compound eye.
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| More details and pics coming soon. Web page last updated; Feb 20, 2007.
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| Copyright © 2003-2007 by sbcRobotics, ALL RIGHTS RESERVED
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