Openbionics robot project introduction | bciduino community finishing

Bionic robot fingers
This design is based on a simple but effective idea ： Using active muscles and impedance methods to achieve the bending and extension of robot fingers , Follow a biologically inspired approach , That is, stable elastomer material （ Silicone tablet ） Corresponding to human extensor tendon ,

This paper introduces the structure of a robot finger . The elastomer material is shown in the lower part of the image （ Whiteboard ）, The low friction tube for tendon wiring appears in the upper part of the image together with the rigid phalanx （ White tube ）. The bottom of the finger is also depicted on the right side of the picture .

Modular finger base with multiple slots
The robot hand has a modular finger base , Equipped with a 5 Slots , Can be used to “ accommodate ” Four fingers in total . More specifically , Manipulator with finger base frame with various geometric structures can be developed . Lines and 2D polyhedral geometry are easy to create , For 3D polyhedral geometry , You must use fingertips of different heights （ To create a vertical offset ）. These hands are very capable of grabbing all kinds of objects in daily life , Each hand is specialized in different types of tasks .

The above figure describes the robot wrist module

Disc differential mechanism
In order to connect all independent finger cables to the actuator （ Servo motor ） On , A disc-shaped differential mechanism is developed . The differential mechanism allows one or more fingers to stop moving due to workspace constraints or when they have been in contact with the surface of the object , Perform independent finger bending .
The above figure shows the disc-shaped differential mechanism used on the manipulator

Robot hands consist of low-cost off the shelf materials ：
[1] The combination of spongy material and low thickness rubber , Provide high friction coefficient for fingertips .
[2] Dyneema Fishing line , For cables , Provide zero elasticity and high-strength operation .
[3] Low friction tube for tendon wiring .
[4] A series of v Groove sealed ball bearing （ pulley ）, Used with low friction tubes , To minimize friction in tendon routing .
[5] Bending joints made of silicone plates of different thicknesses .
[6] Various fasteners .
[7] The rigid connecting rod is made of 2mm Acrylic material （ organic glass ） Made from .

For robot finger assembly , Designers use fishing lines and needles , In order to sew the silicone sheet onto the rigid connecting rod （ The connecting rod is designed with proper holes ）.

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