Design and Implementation of a Low Cost 3D Printed Adaptive Hand

摘要

Service robot are acquiring significant importance on everyday scenarios. They are able to provide relevant services to human beings like household tasks or helping senior people to live independently. Nevertheless, some tasks, such as cooking or grasping objects cannot be provided without equipping the robot with robotic arms. However, on many occasions, the price of the arms exceeds that of the robot itself. Some low-cost solutions have been proposed to solve this problem, but they usually do not adapt the end-effector (gripper) to the grasped object. Based on the design of the InMoov open source humanoid robot, this paper describes the design and implementation of a low-cost arm with an adaptive gripper for humanoid robots. Electronics is deployed in a distributed architecture based on Arduino platforms for low-level control. Obtained results show that the proposed arm is able to successfully solve grasping tasks.