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16.21 Placement of back plate
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16.22 Placement of top plate
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Android hand
Screw
Loop Rubber Band Through Air Muscle End Thread 1" screw through both loop ends Top Plate Screw
16.23 Threading rubber band through one end of air muscle and attaching opposite end to top plate screw
Note Tension or rubber band is sufficient to extend air muscle (approx. 2lbs.)
Air Muscle
Wire Screw Rubber Band (stretched) Hole drilled in plastic
Machine Screw Alum Plate
16.24 Overview of attaching stretched air muscles to finger pull sixteen
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Air Muscle Loop
16.25 Attaching opposite end of air muscle to machine screw to extend air muscle
Pass a double strand of wire through the plastic hole and front loop of the air muscle. Twist the ends of the wire together securing the components together. If there is excessive wire left from twisting, clip it off using wire cutters. The top view should look something like Fig. 16.24. We can now see how the finger will contract. As the air muscle is pressurized, it contracts. The contraction pulls the plastic stem of the finger pull, which in turn contracts the finger. When pressure from the air muscle is released, the rubber band extends the air muscle back into its original extended position. At this point it s a good idea to static test the finger. Connect the air supply to the muscle to ensure it operates in the manner just described. The prototype required a pressure of 42 psi to fully contract the index finger. When the finger operates properly, connect the air muscles to the remaining fingers in the same manner described. Figure 16.26 is a close-up of the air muscles connected to all the finger pulls.
The thumb
The thumb is the most important finger on the hand. It makes grasping, holding, and using tools much easier. Don t think so Try picking up a coin off a table or floor without using your thumb. Now try using a few tools, like pliers, wire cutter, hammer, or drill. To make the thumb, cut off the small finger assembly from the second hand unit purchased. Assemble this finger section lower and at a 45 degree angle to the other fingers (see Fig. 16.27).
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Android hand
16.26 Close-up of air muscle, rubber band, and finger pull tied together in finished hand
16.27 Finished robotic hand
The thumb in this prototype is articulated (moves) but is not opposable. To improve this design, make the thumb opposable. This will increase the effectiveness of the hand. To make the thumb opposable, the thumb-containing portion of the hand must be cut off and reattached using a spring-loaded hinge (see Fig. 16.28). The spring-loaded hinge would be located on the rectangular box shown in Fig. 16.28. An air muscle connects to this section; when activated, it pulls the thumb into the palm section of the hand. This makes the thumb opposable as well as articulated.
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16.28 Plans to make thumb opposable as well as articulated
Going further
The robotic hand can be interfaced to an IBM-compatible computer using five electric solenoid valves, similar to the single-valve design shown earlier. An outer covering like a rubber hand can be fitted over the robotic hand to make an android hand (see Fig. 16.29). Some other applications for the air muscle are interesting. Here are a few: Six-legged robotic walker Easy-open jar clamp (for people with arthritis) Robotic hands Robotic arms
Parts list for the air muscle
(1) Air muscle, 6" long with 5/32"-diameter tubing $15.95 (1) PET bottle top adapter with pressure release valve $4.00 (1) Three-way air valve $4.00 (1) Air pump adapter $2.00 (1) Foot air pump with 100-psi air pressure gauge $12.95
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Android hand
16.29 Fitting lifelike rubber hand over robotic hand to create an android hand
(1) 5/32"-diameter air tubing $0.25 per ft (1) 7/32"-diameter clear air tubing (for making quick releases) $0.25 per ft
Parts list for the IBM interface
(1) 5-VDC three-way solenoid air valve, 90 psi maximum $30.00 (1) DB25 pin connector $3.50 (1) 4050HCT noninverting hex buffer $4.00 (1) TIP 120 NPN Darlington transistor $1.25 Parts are available from: Images Company 39 Seneca Loop Staten Island, NY 10314 (718) 698-8305
http://www.imagesco.com
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Suppliers
Jameco Electronics 1355 Shoreway Road Belmont, CA 94002 (650) 592-8097 JDR Electronics 1850 South 10 Street San Jose, CA 95112 (800) 538-5000 Images SI, Inc. 39 Seneca Loop Staten Island, NY 10314 (718) 698-8305 Radio Shack Check local telephone directory for store nearest you
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