Tipo di tesi
Tesi di laurea specialistica
Titolo
Progettazione e sviluppo di una mano robotica con caratteristiche biomeccaniche
Corso di studi
INGEGNERIA MECCANICA
Parole chiave
- Bioinspired
- Cardellicchio
- Design
- Hand
- Robotic
Data inizio appello
10/10/2007
Consultabilità
Non consultabile
Data di rilascio
10/10/2047
Riassunto (Italiano)
The aim of this work is to design and develop a bio-inspired robotic hand to be used in manipulation tasks both to test sensory-motor control algorithms and to improve understanding of human hand actuation patterns, with particular reference to neuromotor rehabilitation. The state of the art analysis encompasses a review on the robotic hands developed in the past decades with particular attention on actuation scheme and transmission routing. The design process starts from a biomechanical model of the human hand, eventually deriving Denavit-Hartenberg parameters for both the index finger and the thumb. In a preliminary analysis a brief description of some common actuation systems is provided and, thanks to a minimization procedure, the optimal pulleys radii dimensioning has been developed, if a tendon driven transmission is adopted. Finally, the mechanical design of the robotic hand is addressed comparing different solutions for the robotic hand sub-assemblies and deriving CAD drafts.
