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Robotic Hand — Parallax Forums

Robotic Hand

AImanAIman Posts: 531
edited 2010-11-13 01:41 in Robotics
Greetings,

In the past I had mentioned a robotic hand· and various tid bits about it. Would there be interest if a diagram was posted? It would be an·early version with out code. By early I mean several years old, not the current one.

Let me know.

Oh ya - the diagram would be posted in paint brush format.

Comments

  • ercoerco Posts: 20,256
    edited 2008-12-26 17:04
    Absolutely, sounds quite interesting. Please share what you can. Is the current version something you are pursuing commercially?

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    ·"If you build it, they will come."
  • Chris SavageChris Savage Parallax Engineering Posts: 14,406
    edited 2008-12-26 22:56
    This forum is for posting completed projects only. This thread is being moved to the Robotics Forum.

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    Chris Savage
    Parallax Engineering
  • AImanAIman Posts: 531
    edited 2008-12-27 19:34
    Here are some diagrams.

    Hand Top 11 is a close up view while Hand Top 12 is showing it zoomed out. Wrist Top 6 shows a diagram of how the wrist and hand interact.

    Red and Blue lines are power, the green rectangle is where one of the BS2's went, the others were located in the forearm and bicep area's (not shown). The solid blue is the attachment from the forearm to the hand, with the thick gray line being a connecting rod. The blue and red in the fingers are cables running joints and the motors for the joints are at the base of each finger.·Take up spools for each joint are also shown as extensions from the motors. The pink squares in each digit of the finger are attachment points for the cables running the individula joints.
  • P!-RoP!-Ro Posts: 1,189
    edited 2009-01-01 02:12
    Looks great! I'm glad you posted it.

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    PG
  • HumanoidoHumanoido Posts: 5,770
    edited 2009-01-01 02:35
    AIman, did you try building one? It will be interesting to see the result.
    After seeing the movie Star Wars, I designed a robot hand. At that
    time, the plans were taken to the local machine shop to have one built.
    The owner basically said they would need to charge me millions of
    dollars to make one. Disappointed, I went home and built one. To
    make the hand, I used various conduit and commonly available
    parts from the surplus, plumbing, electrical and hardware stores.

    humanoido
  • AImanAIman Posts: 531
    edited 2010-03-09 22:02
    Sorry for such a long time to reply.

    Yes I have built various versions of this hand. What is posted is long outdated and the current one is much more sophisticated. I made the original oversized and out of wood just to make sure everything moved like it was supposed to and then the next one was smaller and out of wood.

    Now it an aluminum·frame with·fake skin.
  • Spiral_72Spiral_72 Posts: 791
    edited 2010-03-09 22:43
    Very cool. That's quite an undertaking.... And the programming, WHEW! I can't imagine!

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    "puff"...... Smile, there went another one.
  • Robert TRobert T Posts: 71
    edited 2010-03-09 23:39
    Check out this hand

    http://www.shadowrobot.com/
  • HumanoidoHumanoido Posts: 5,770
    edited 2010-03-10 00:44
    Since robots are mostly small, there would be more demand
    for smaller hands.

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    humanoido
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  • AImanAIman Posts: 531
    edited 2010-04-27 20:57
    The problem isn't so much the programming as it is the actual making of the hand itself.

    Reason - To oversimplify, much of the programming is identical. Example - hinge joints open and close, each finger has·a hinge joint and except for the thumb one ball joint. That means 2 sub routines can be used instead of one for each joint. Including the thumb that makes 3 sub routines.

    Aside from the basic 3 sub routines there is a sub routine for the hand to grip - in other words your hand moves much like·a hinge joint laid diagonially so that your pinky and thumb can touch.

    By contrast getting parts to fit and move like they are supposed to - that has made me running scream into the night...

    Post Edited (AIman) : 4/27/2010 9:02:41 PM GMT
  • Spiral_72Spiral_72 Posts: 791
    edited 2010-04-28 16:54
    I had given this a bit of thought... I might be just blowing hot air:

    If you move the actuators into the forearm you'll have a LOT more room to work with especially for a life-sized hand. I suppose you'd have to use a pull-pull setup for rotational servos, or a push/pull cable for a linear servo (not sure how well that would work).

    The trouble I see with this is, if finger joint #1 moves, it'll shorten the control cable/wires for joints #2 and #3..... I'm not sure if "shorten" is the correct word, but you understand.

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    "puff"...... Smile, there went another one.
  • AImanAIman Posts: 531
    edited 2010-04-29 16:20
    You are correct.

    A past version of this hand used a single cable for each finger, much like in animatronics. The reason is simple, when we bend our fingers we start moving by bending the top knuckle, then the middle and lastly the bottom. So a single cable threaded through the finger can accomplish that with ease.

    Most components of the hand are based in the wrist and fore-arm area, however there are still a number of things to be taken into account that must be in the hand.

    Example, to pick up something you need to open your hand and spread your fingers. This·means pulleys or selonoids of some type are needed by the base of the finger to cause the spreading and contracting needed to grasp. If you run the finger to far into the hand it simply looks wierd.

    Note that the spreading and contracting mentioned here is not the curling of the fingers where strength comes from, rather that which is needed for positioning of the fingers.
  • AImanAIman Posts: 531
    edited 2010-04-29 16:47
    Erco,

    In answer to your first question -
    YES - This and other devices are being pursued commercially. The applications are for both robotics and biomedical devices that are being built by my company.

    NO - I am not sharing current versions. Because these things are still under development, they are patent pending on the actual designs and software and as such there are limits to what I can share. Everything you are getting is outdated from my point of view.





    Humanoido,

    YES - what you see posted was made. All concepts are first made out of wood. It helps to build a seriously oversized model before trying to make a properly scaled version.
  • AImanAIman Posts: 531
    edited 2010-11-10 16:25
    Link from National Geographic

    http://ngm.nationalgeographic.com/2010/01/bionics/fischman-text


    Also posted it as a seperate thread
  • ercoerco Posts: 20,256
    edited 2010-11-10 16:33
    Very cool. This is your company's arm & hand?
  • HumanoidoHumanoido Posts: 5,770
    edited 2010-11-13 01:41
    How much will you scale this down? I have a small blue robot hand that I'm testing on Penguins.
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