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TWiki > Seabed Web>HandyHand>WishList (05 Nov 2009, DanAukes)

Wishlist for Hand Demos

Technical State Functional State
Christmas Hand must be able to be simply attached to the adapter plate. minimum demo: shows up.
Communication must be in place with the inductive coupler minimum: position control through actin.
fingers move, and base turns the fingers
Robot software shall be able to operate the fingers(position control)  
position sensing  
tactile sensing offboard  
re-engineer the stiffening actuators able to pick up 6 shapes, small/large
integrate the arm and hand in actin  
Easter rfid for tool identification  
reenginer the closing actuators hand is able to pick up heavier weights
Fourth of July    
   

Mechanical

  • switch from hydraulics on the small actuators
  • pump w/ reservoir
  • try cables(bike, motorcycle)
  • try screw nut
  • try binary actuation between pinch and crimp or shape change(or shape change, nonbackdriveable)
  • change base motor actuation to something with better mechanical advantage
  • get the hand base attachment done
  • locating pin for the hand
  • ball, cube, cylinder (large/small)

Sensing

  • position
  • force/tactile

Testing

  • priority #1 is shapes, then weights

 
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