Tesi etd-09022007-123004 |
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Tipo di tesi
Tesi di laurea specialistica
Autore
Cardellicchio, Andrea
Indirizzo email
a.cardellicchio@sssup.it
URN
etd-09022007-123004
Titolo
Progettazione e sviluppo di una mano robotica con caratteristiche biomeccaniche
Dipartimento
INGEGNERIA
Corso di studi
INGEGNERIA MECCANICA
Relatori
Relatore Frisoli, Antonio
Relatore Avizzano, Carlo Alberto
Relatore Bergamasco, Massimo
Relatore Avizzano, Carlo Alberto
Relatore Bergamasco, Massimo
Parole chiave
- Bioinspired
- Cardellicchio
- Hand
- Design
- Robotic
Data inizio appello
10/10/2007
Consultabilità
Non consultabile
Data di rilascio
10/10/2047
Riassunto
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.
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