Esnek ve sürekli yapılarla robotik el tasarımı

Nowadays robots are replacing humans in many areas such as industry, military, medicine. In ındustry, robots are used for special tasks for example precision machinery and manufacturing. In military, it is used to do the dangerous tasks which is harmful for people. And also, in medicine it is used to help rehabilitation of neuro-muscular damages using phsyiotherapy or follow the patient's treatment process. Specially, robots that it is used for medicine look like human in order to easily human- robot interaction. This robots are called as humanoid robots. Humanoid robots, robots with an antropomorphic body plan and human- like interaction. When one robot is defined as humanoid robots, it has to have some features such as bipedal locomotion, perception, dexterous manipulation, learning and adaptive behaviour. In all features is one most important dexterous manipulation. This feature obviously necessary for behave as human. Dextereous manipulation/dexterious hand or robotic hand is the topic has been researched for a long time. It is may be the hardest topic in humanoid robot design in order for them to work like a human hand. Human hand one of the most complex structure in human body. It has thirty degree of freedom and advanced movement capability. From the first research attempts on human hand, the researchers have been developing many types of hand designs with different working principles and structures. However, the most of these researhers use same approach for its structure which it is called rigid-link strcture. Rigid-link strucure is used to work as bones of human hand. This approach is a good one but it cannot realize the grasping capability of the human hand in full potential. Because of this, the researchers are focusing on the novel design methods using flexible back-bones and cable-based structures seen in continuum robotics. Continuum robots can be viewed as being "invertabrate" robots, as in contrast with the "vertebrate" design of conventional rigid- link robots. Continuum robots can bend, often extend/ contract and sometimes twist at any point along their structure. This provides them with capabilities beyond the scope of their- rigid- link counterparts. And also, continuum robots gently contacts and adapts its shape to wrap around fragile objects with no prior planning or knowledge of the object and without any sensing of the contact between robot and object. This movement capability does not exist in rigid- link manipulators. In this thesis, a robotic finger is designed using continuum robotics approach for providing a compliant interaction with the outer environment. The returm spring is used to work as bones of human fingers. Three plates are used to motion as like human finger joints. And also, cables are used to transmit the motion from the motors to the finger joints. Each cable actuation is performed with one single motor in order to obtain high motion capability similar to human finger. Bezier Curve method is used to perform kinematic analysis. Using Bezier curve method can be found both Inverse kinematic solution and Forward kinematic solution. In order to solve Forward kinematic, the amount of the exchange of cable lenghts are calculated. Thus, tip point of each segment is calculated by using geometric formulas. The other control points are found by using iteration methods. And then, the shape of curve and coordinates of tip points of finger are found.To solve Inverse kinematic, the image process method can be used.The coordinates of base point and tip point are found by image processing. After that the other control points are calculated by using iteration methods. The shape of curve and the position of finger are found. Lastly, the lenghts of cables are found by using image processing and the amount of the exchange of cable lenghts are found. Thus, the amount of change of motor angle is found by using cable lenghts informations. In this thesis, Inverse kinematic solution is used for kinematic analysis by using image process methods. Thus, the amount of the exchange of angles motor and the shape of the finger are found. In the following studies, the dynamic analysis and whole hand motion will be studied.