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Tesi etd-09022007-123004


Thesis type
Tesi di laurea specialistica
Author
Cardellicchio, Andrea
email address
a.cardellicchio@sssup.it
URN
etd-09022007-123004
Title
Progettazione e sviluppo di una mano robotica con caratteristiche biomeccaniche
Struttura
INGEGNERIA
Corso di studi
INGEGNERIA MECCANICA
Commissione
Relatore Frisoli, Antonio
Relatore Avizzano, Carlo Alberto
Relatore Bergamasco, Massimo
Parole chiave
  • Bioinspired
  • Cardellicchio
  • Hand
  • Robotic
  • Design
Data inizio appello
10/10/2007;
Consultabilità
parziale
Data di rilascio
10/10/2047
Riassunto analitico
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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