Konstrukce robotické ruky se čtyřmi prsty

Abstract

This bachelor thesis deals with desing of fouf-finger robotic hand. In the introduction, the current multi-finger anthropomorphic robotic hand are mentioned. There are developed variations of solution, using different kinematic solution. Based on value analysis is selected optimal variant, which is further elaborated in detail. There is solving the structural solutions, sizing and selection of suitable actuators and finally solved the control. After all calculations and detailed elaboration of 3D model components are printed using Rapid Prototyping and are purchased all mechanical components and fasteners. After assembly and putting into operation of the robotic hand is used as a demonstration and education model at the Department of Robotics VSB, Technical University of Ostrava.