طراحي و ساخت نمونه اوليه يك دست ربات براي برنامه هاي زير آب جهت لوله هاي نفتي

Design and Construction of a Robot Hand Prototype for Underwater Applications

چكيده: اين مقاله روند طراحي و مراحل ساخت يك ربات چند انگشت را توصيف مي كند نمونه اوليه دست ربات، به نام GUH14، براي محيط زير آب استفاده مي شود. نمونه اوليه درهمكاري دانشگاه كالابريا و دانشگاه گيرونا با هدف طراحي و ايجاد يك دست رباتيك زير آب كه مي تواند در يك ربات اجرا شود. هدف اين پروژه درك درست و استفاده از راه حل هاي نمونه اوليه دست ربات و انجام عمليات در محيط زيردريا مي باشد، اين دست ربات از يك كف دست و سه انگشت مستقل وهر كدام با سه درجه آزادي تشكيل شده است كه به ترتيب توسط سروو موتورها از طريق انتقال تركيبي، چرخ دنده ها و تسمه ها فعال مي شود و توسط گيربكس ها به انگشت ها منتقل مي شود كه در اين مقاله روش هاي طراحي و ساخت دست ربات كه اجازه استفاده از نمونه اوليه را به ما مي دهند مورد بحث قرار خواهد گرفت.

Abstract: This paper describes the design process and the construction stages of a multi-fingered robot hand prototype, named GUH14, to be used in underwater environment. The prototype was developed in collaboration by the University of Calabria and the University of Girona, with the goal of designing and building an underwater robotic hand that can be implemented on robot arms. This project is aimed to develop prototype solutions for grasping and manipulation operations in a submarine environment. The hand is composed by a palm and three independent fingers, each with three degrees of freedom (hereinafter, DoF), actuated by servomotors through hybrid transmission, tendons and gearing. The design and manufacturing procedures that allowed for the operation of the prototype will be discussed.Abstract: This paper describes the design process and the construction stages of a multi-fingered robot hand prototype, named GUH14, to be used in underwater environment. The prototype was developed in collaboration by the University of Calabria and the University of Girona, with the goal of designing and building an underwater robotic hand that can be implemented on robot arms. This project is aimed to develop prototype solutions for grasping and manipulation operations in a submarine environment. The hand is composed by a palm and three independent fingers, each with three degrees of freedom (hereinafter, DoF), actuated by servomotors through hybrid transmission, tendons and gearing. The design and manufacturing procedures that allowed for the operation of the prototype will be discussed.This paper summarizes the obtained results