WHDL - 00017626
WHDL - 00017626
Submitted to the Department of Mathematics and Computer Science in partial fulfillment of the requirements for the degree of Bachelor of Arts
One of the great wonders of the human hand is its ability to sense a variety of aspects of an object. It can sense weight, texture, pressure, hardness, and many other characteristics. Many robotic grippers, up to this point in time, have lacked these qualities. This project, styled DEFT (Dexterous Effector for Fine Touch), seeks to create a five-fingered anthropomorphic robotic hand capable of sensing touch. The DEFT system is separated into four subsystems, SOUTHPAW, AR3, SCAM, and TRASH. SOUTHPAW (not an acronym) is the physical implementation of the end effector. It is a 3D-printed, five-fingered, tendon-actuated robotic hand. The AR3 (Annin Robotics v3) arm serves as a platform for the end effector. SCAM (SOUTHPAW Control and Actuation Module) is responsible for the physical movement of SOUTHPAW. TRASH (Test-driven Robotics Algorithm for Superior Handling) is the software-driven control system that is responsible for interpreting requests for movement, forwarding the interpreted requests to SCAM, and responding to sensor feedback from SCAM. The current prototype of DEFT has been shown to be capable of securely holding a 46g payload (form fit) with a diameter of approximately 43mm. The final implementation for DEFT is expected to measure pressure.
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