Subject:
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Hand-Tech
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Newsgroups:
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lugnet.robotics
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Date:
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Mon, 9 Apr 2001 16:55:00 GMT
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Viewed:
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780 times
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Gents, I've been getting some questions on the Tech for the hand I
developed, and that's good because I made a diagram! Check it out on Brickshelf:
Hand tech:
http://www.brickshelf.com/cgi-bin/gallery.cgi?i=40932
Armature Folder:
http://www.brickshelf.com/cgi-bin/gallery.cgi?f=2738
Current Status:
http://www.brickshelf.com/cgi-bin/gallery.cgi?i=38826
The hand you see here incorporates the Torque / Slip Gear as well as a touch
sensor in the wrist that engages when the Thumb levers make or break contact
with the touch sensor. Also the Mechanical hinge design in the fore-fingers,
doubles the arc swing at the fingers-tips. Once the hand has closed, the
motor continues to apply force until the levers engage the Touch Sensor.
Then the Slip Gear kicks out. The hand produces enough force to grab an RCX
fully loaded with batteries. I've never tested it beyond that. I could have
made the entire length of the fingers using this Mechanical Hinge design,
but the progression of Backlash thruought the segments caused a loss of
gripping preformance. Although it made a good hand that completely became a
fist, Strength was the prioity. So I give a little and get a little by
compromising.
I am willing to entertain questions.
Thanks.....Eric
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