Abstract:

The main purpose of this thesis is to design the intelligent robotic hand. In this thesis, a three-fingered robotic hand, which is similar to the industrial gripper, is developed. This robotic hand is compact, lightweight, and low-cost. As the result of the special cable-driven mechanism, the robotic finger succeeds in automatically adapting to target objects so it’s easy to control this underactuated robotic hand. Next, based on the design experience of the three-fingered robotic hand, an intelligent humanoid robotic hand with 10 degrees of freedom (DOF) is designed in this thesis. Several anatomical analyses and optimization procedures are developed to improve the mechanism design. The concepts of series elastic actuator (SEA) and underactuated mechanism are also applied to give the robotic hand a compliant property and high dexterity. Hence, a succinct and functional robotic hand is devised.

Finally, an embedded controller system is designed. Since the robotic hands are equipped with controllers, actuators, mechanical components, and sensors, such compact design makes it easily implemented into wide range of applications.