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3D-Printed Five-Fingered Robotic Hand Actuated by Twisted Strings
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A robotic hand actuated by twisted strings, servo motors, and DC motors is developed that can mimic nearly every movement of the human hand. The robot has four fingers and one thumb that can be independently controlled by the user. The majority by mass of the hand's components are printed with ABS plastic or PLA using fused deposition modeling (FDM) printers. Proportional-integral-derivative (PID) control of the DC motors are obtained via angular position sensors on the back shafts of each motor as well as a microcontroller. Flexion and extension of each finger are obtained via twisted strings connected to a DC motor. The twisting of the strings by the motor shortens their length to create linear actuation. Applications of this device are in academic research for studying robotic grasping, as well factory production lines for automating tasks normally performed by humans. The components of this prototype cost less than $500.
|Committee Member||Dumovich, Jacob; Fowzer, Steven; Helmonds, Doug; Munson, Lyndie; Monette, Zachary|