Undergraduate mechatronics research case study: contributing towards a dexterous robot hand

摘要

The importance of implementing a strong project-based approach to undergraduate mechatronics education and the enhancement obtained through the introduction of a research aspect to these projects have been emphasized in the literature. This paper describes the immersion of final-year undergraduate mechanical engineering students into the research programme of the Department of Industrial and Manufacturing Engineering of the University of Malta, through supervised undergraduate projects that build upon each other from year to year, eventually leading to publications in the international research literature. We focus on the area of robot hands and present an extended project as a case study. We first describe briefly a selection of research-oriented undergraduate projects in this area carried out over the last decade. The paper then focuses on one particular project among those described, involving the development of an anthropomorphic robot hand with eight degrees of freedom that is based on observations of the attributes and the limitations of the human hand. The robot hand is intended to be used as a teleoperated slave device and a particular objective is to reduce its size and weight through the remote location of all of the actuators and sensors. The paper gives a detailed rationale for the design, followed by descriptions of the kinematic, mechanical, actuation, sensing and control systems of the constructed prototype. This is followed by a description of sensor calibration procedures and results. The paper concludes with a brief discussion of the significance of this work, addressing both the educational and research aspects, and of future directions to be taken.