Biomimetic Anthropomorphic Robotic Hand

Naloga opisuje načrtovanje, izdelavo in programiranje biomimetične antropomorfne robotske roke z dvajsetimi prostostnimi stopnjami oziroma gibljivimi sklepi. Konstrukcija robotske roke poskuša posnemati obliko in razpon gibanja posameznih sklepov človeške roke z namenom, da s tem tudi poustvari njeno prijemalno funkcijo. Konstrukcija temelji na sistemu škripcev, ki omogoča neodvisne premike sosednjih sklepov istega prsta. Konstrukcija je preprosta, modularna in ohranja dimenzije primerljive s človeško roko. Robotska roka je izdelana z uporabo cenovno ugodnih komponent in dostopne tehnologije tiskanja 3D. Programska oprema omogoča osnovno krmiljenje sklepov, ki so preko vzporednih vrvic povezani s servomotorji. Vsak sklep vsebuje pozicijsko tipalo, ki omogoča natančno regulacijo njegovega položaja. Delovanje je preizkušeno z računalniškim krmiljenjem prsta robotske roke in prikazuje pomembnost napetosti vrvic za pravilno delovanje sistema škripcev ter potrebo po boljši koordinaciji sosednjih sklepov. Razpon gibanja konstrukcije dodatno preizkusimo z ročnim krmiljenjem prijemanja predmetov različnih oblik in velikosti. Preizkus pokaže, da konstrukcija robotske roke uspešno posnema glavne gibe prstov človeške roke, medtem ko se lahko negibljiva dlan v prihodnosti še izboljša. Preizkus prijemanja prav tako razkrije redundantnost nekaterih sklepov, kar pomeni, da lahko primerljive prijeme dosežemo z manjšim številom aktivnih sklepov. Praktično uporabo robotske roke lahko izboljšamo še tako, da konstrukciji dodamo tipalo za zaznavanje dotika, programsko opremo pa nadgradimo s kompleksnejšim modelom upravljanja gibanja.The thesis describes the design, construction and programming of a biomimetic anthropomorphic robotic hand with 20 degrees of freedom, i.e. flexible joints. The design of the robotic hand attempts to mimic the shape and range of motion of the individual joints of the human hand, with the goal of replicating its grasping function. The design is based on a pulley system that allows adjacent joints of the same finger to move individually. The design is simple, modular, and has dimensions comparable to those of the human hand. The robotic hand is made from low-cost components and affordable 3D printing technology. Software provides basic control of the joints, which are connected to servo motors via parallel strings. Each joint contains a position sensor that provides precise control of its position. The operation of the robotic hand is tested by computer control of finger joints, demonstrating the importance of the tension of the strings for proper operation of the pulley system and the need for better coordination of adjacent joints. The range of motion is also tested by manual control while grasping objects of different shapes and sizes. The grasping test shows that the construction of the robotic hand successfully mimics the main movements of the fingers of the human hand, while the non-moving part of the hand can be further improved in the future. The grasping test also reveals the redundancy of some joints, which means that comparable grasps can be achieved with less functional joints. The practical use of the robotic hand can be further improved by adding a touch sensor to the design and by upgrading the software with a more complex motion control model