Engineering Library
Humanoid Robot Sub-systems - Five-fingered Hand
Bearss, Brock
Author
text
technical reports
University of California at Berkeley, Berkeley, California
EECS Department, University of California
2014-05-15
eng
30 p
A growing number of industrial manufacturers are realizing the substantial financial and environmental benefit of sustainable manufacturing. Sustainable manufacturing is the creation of manufactured products through economically-sound processes that minimize negative environmental impacts while conserving energy and natural resources. This project is driven to enable life-changing, affordable prosthetics and manufacturing robots by developing a high performance, five-fingered robotic hand and bipedal robot using intelligent computing and a sensor array. Our goal is to design this robot to bring a significant change to current methods of manufacturing if used broadly in industry. This report gives an overview of this project including all key components including mechanical design, joint actuation, visual computing, and microcontroller programming. This report will focus on my own contribution, joint actuation through shape memory alloys (SMA), and the bulk of the discussion revolves around the design issues associated with SMA. SMA was chosen for the joint actuation since it has a high energy density, is mechanically simple, and has a low cost.
EECS
bk0000m744s
EECS-2014-82
Engineering Library;;, 110 Bechtel, University of California, Berkeley, CA 94720-1796;;
The author(s)
Computer Science Division, Department of Electrical Engineering & Computer Sciences, University of California, Berkeley
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