Roboticunderactuatedfinger

AidynTorgayev
DauletBaimukashev

Introduction/Background

Theaimofthisprojectistodesignaroboticunderactuatedfingerwithactuation
system.Theroboticfingershouldhavethreedegreesoffreedomandthetotal
weightof2kgshouldbemaintained.Mostattentionispaidondesignofthelinkage
mechanismandreliabilityoftheconstruction.Roboticfingersareusedforprecise
manipulationandweightlifting.

Mostimportantrestrictionsandassumptionsareasfollows:

Externalweightisabout2kgandsafetyfactorisatleast2
Theoveralllengthshouldbewithin1015cm,andwidthshouldnotexceed3cm
Weightandcostshouldbeminimized
Anthropomorphismisnotadesignconcern.
Mostpartslikespringsandshaftsaretakenfromavailablesources
Worstcasescenariosshouldbeconsidered

Methodology

Firstofall,thelinkagemechanismofthefingerisdesignedforhavingthreedegrees
offreedomanddimensionsforlinksaredetermined.Afterthatspringdesignisdone,
andallpartsincludingthespringaretestedforsafetyfactors.Finally,fortherequired
outputtorquegearandamotorarechosenaccordingly.
The3DmodelisbuiltinSolidworks,andalldrawingsarepresentedintheAppendix
C.AllcalculationsanditerativemethodarecarriedoutwithMatlab.Allcodecanbe
foundinAppendixB.

Design

Linkagedesign

Fig1.Linkagedesign

Thedesignwasaniterativeprocessofdifferenttrialsforfindingtheefficient
mechanism,whichisperformedbyusageofCAD.Eachphalangeofthefingeris
designedasaseparatelinkagesystemandissupposedtohavedimensionssothat
thewholefingerdimensionswithintaskrestrictions.Startingwithasimple2D
drawinginSolidWorksforbasicmovementpredictionandfinishingwitha3Ddesign
ofeachlink.
LinkagesystemwasdraftedinSolidWorkswithsimplelinesandblocks.Twojoints
(greyandblue)arefixedandareabletorotateaboutthepoints.Theblue,light
brownandgreenlinesrepresentthemainphalangesofthefinger.Otherlinksare
supportiveandprovidedesiredmotionofthelines.

Springdesign

Nowfordesignofthespringwehavecalculatedthesafetyfactorandwithiterating
thecodeswritteninMatlab,optimaldimensionsareobtainedforwirediameter,
meandiameter,springrateetc.Afterthatthesevaluesarecomparedtowhatis
availableinwebsitecatalogueAsraymondandspringwithdesiredspecificationswas
selected.Thesafetyfactorofspringis6.8,whichismorethansatisfactory.Then,the
dimensionsofaspringareasfollows:

Material:ASTMA228
Wirediameter:0.56mm
Outerdiameter:6.35mm
Totalnumberofcoils:N
=19
t
Springrate:200N/m

Gears/motor

Gearswereselectedsothatamotorwillhaveenoughtorquetoextendthespringto
therequireddeflection.Theworkingdeflectionis7mmandrequiredtorquewas1.5
Nm.BothmotorandgearheadarechosenfromMaxonMotorcataloguewebsite.
Thenominaloutputofthemotoris222mNmandgearratiois14,whichcan
increasethetorqueofmotorupto3Nmwhichissatisfactory.Thedetailed
specificationsofthemotorandgearheadarepresentedinAppendixD.

Body

ThematerialforthebodyistheAluminumAlloy3003coldrolled.Thechoiceof
aluminumisduetoitsstrength/weightfactor,aswecangetenoughstrengthand
remaintheweightaslessaspossible.Thelinktowhichtheweightof2kgis
attachedisconsideredassinglesupportedbeamanddeflectioniscalculated.The
deflectionshowsaround10E8whichisverylow.
Also,tearoutstressinthepinswasconsideredandcalculated.Thesafetyfactor
againsttearingisaroundN
=21.
tear

Conclusion
Inconclusion,wesuccessfullydesignedallneededpartsforthreedegreefreedom
roboticactuationsystem.Listofpartsisprovidedinfollowingtable.

Linkage
mechanism

Fourbarlinkagesystem,DOF=3.

Motor

ECi4040mm,brushless,100Watt
Torque:222mNmSpeed:5000RPM
FromMaxonMotor

Gearhead

PlanetaryGearheadGP32A32mm,ratio:14
FromMaxonMotor

Spring

ASTMA228,d=0.56mm,D
=6.35mm,N
=1,k=200N/m
o
t
FromAsraymond

Totalweightofanassemblyisexpectedtobearound800g,550gofwhichaccounts
formotorandgearhead.Thetotalcostisaround550$,takingintoaccountmotors,
gearsandmaterials.Themotorandgearheadcost425$.Thewidthoftherobotic
fingeris2.5cm,andlengthis12cm,whichiswithintherequiredrange.Thedesign
andmaterialselectionallowsittooperateatroomtemperature.

Inordertoimprovethedesigninthefuturewecouldchangetheshapeofthebox
containingmotorandcoatingofthelinkage.Theextensionspringcouldbereplaced
withtorsionalspringforthesakeofspaceeconomy.

AppendixACalculations
(MATLABCODE)

Springhelicalextension

Findingdiameterandsafetyfactor:

d=0.56mm
D=6.35
C=D/d
G=80*10^9
Ks=1+0.5/C
F=0.180*9.81
F_init=0.36
tau=8*Ks*F*D/(pi*(d)^3)
CoefficientformusicwireASTMA228,squaredgroundends
A=1753
b=0.1822
Ultimatetensilestrength:
Sut=A*(d^b)
Yieldstrength
Sys=0.6*Sut
Staticsafetyfactoragainstyielding
Nf=Sys/tau
Springrate
k=200
delta_F=FF_init
y_working=delta_F/k
Numberofactivecoils
Na=(d/1000)^4*G/(8*(D/1000)^3*k)
Endcontributetoactive11coils
Nt=Na+1

Asspringhashooks,let'sfindendstresses

MaxbendingstressaspointA
R1=1.5
C1=2*R1/d
Kb=(4*C1^2C11)/(4*C1^24*C1)
sigma_A=Kb*16*D*F/(pi*d^3)+4*F/(pi*d^2)=384.8379

MaxtorsionstressaspointB
R2=0.5
C2=2*R2/d
Kw2=(4*C21)/(4*C24)
sigma_B=Kw2*8*D*F/(pi*d^3)=317.7877

Fromthecalculations,staticsafetyfactoragainstyieldingisNf=6.88,whichis
appropriate.

Tearoutfailure

length=2/1000

thickness=2/1000
A_tear=length*thickness
F=20
tau_tear=F/A_tear
tau_max=tau_tear

Calculatingsafetyfactoragainsttearing
Sy=186*10^6
S_ys=0.577*Sy
N_tear=S_ys/tau_max
N_tear=21.

Accordingtothecalculations,thesystemissafeagainsttearing.

Calculatingbeamdeflection

Thelinktowhichtheweightof2kgisattachedshouldnotfail.Thislinkisconsidered
asbeamanddeflectionisfound.

Bendingdeflectioniscalculatedassecondintegrationofmomentfunction:

1
1
1
q(x)=R
<x0>
F<xb>
+R
<xL>
1
2
0
0
0
V(x)=R
<x0>
F<xb>
+R
<xL>

1
2
1
1
1
M(x)=R
<x0>
F<xb>
+R
<xL>

1
2
+
Atx=L
,V=M=0
V=R
F+R
1
2
M=R
LF(Lb)
1
0=R
F+R
1
2
0=R
LF(Lb)
1
R
=5N
1
R
=25N
2
E=2.06e11
I=0.083
b=2.5
f=@(x)R1*x.^2/2+F*((x.^2)/2b*x)

Q=integral(f,0,5)
deff=Q/(E*I)

Deflectionis7.1394e09,whichisverylow.

AppendixCDrawings,specifications

AppendixD

TENSIONSPRING(3592)

Description

Inches,Lbs

mm,N

SpringType

Tension
Spring

Tension
Spring

StockNo.

3592

3592

OutsideDia

0.25

6.35

PulltoPull
Length

25.4

WireDiameter

0.022

0.56

Rate

1.14

0.2

InitialTension

0.24

1.06

MaxExtension

1.31

33.29