Conception d'une main articulee robuste pour manipulateur

Abstract

Ce memoire presente une etude sur le design d'une main articulee robuste destinee a des taches industrielles. Une etude de la main humaine est faite pour ensuite proposer une architecture de doight permettant d'effectuer les principales prises utilisees par la main humaine. Les dimensions du doight sont ensuite optimisees afin de reduire la force a fournir aux actionneurs. On recherche egalement a minimiser les dimensions de la main.

Les composantes du doigt sont developpees de facon a etre efficaces et peu encombrantes. Un prototype a trois doigts est donc propose. Le prototype est inspire de la main humaine, mais comporte toutefois des differences majeures afin de reduire le nombre de degres de liberte tout en conservant une dexterite interessante.

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This thesis presents a study on the design of a robust articulated hand intended for industrial tasks. A study of the human hand is made to then propose a finger architecture allowing to perform the main grips used by the human hand. The dimensions of the doight are then optimized in order to reduce the force to be supplied to the actuators. It is also sought to minimize the dimensions of the hand.

The finger components are developed to be efficient and space-saving. A prototype with three fingers is therefore proposed. The prototype is inspired by the human hand, but nevertheless includes major differences in order to reduce the number of degrees of freedom while maintaining an interesting dexterity.