| KEYWORD |
Modeling and experimentation of an underactuated three-finger gripper
keywords MODELLING AND EXPERIMENTAL TESTS, ROBOTICS
Reference persons DANIELA MAFFIODO, TERENZIANO RAPARELLI
Research Groups 04-Automazione e Robotica
Thesis type DESIGN, DESIGN AND EXPERIMENTS
Description The proposed thesis is in the context of a complex research topic: the problem of accidents due to children falling into the well (at least two per year worldwide), a very current issue following the increasing number of artesian wells due to the desertification of the planet. The outcome is always inauspicious as it is not possible to extract the child, in a timely manner, from a cramped and hostile environment, characterized by low temperatures and high humidity, in which it is impossible to survive for more than a few hours. The extraction intervention involves digging a parallel well in an attempt to reach the depth where the child is.
This project aims to develop equipment to intervene in a timely manner by bringing, at first, refreshment (warm air and refreshing and nutritious liquids) and, at the same time, stabilization of the child at the elevation where he or she is and then extracting the baby. The extraction phase is the most difficult because the baby is often stuck and the space is cramped.
The extraction device proposed here is based on an innovative remote manipulation robot with immersive vision, the result of a collaboration between robotics and virtual reality technologies, which allows it to operate in the well, where access is not possible, with the child's assessment, decision and control.
The proposed thesis work involves the modeling and experimental validation of an under-actuated three-finger robotic gripping hand. The design and fabrication of a first prototype have been carried out by previous thesis students. Studies related to modeling and experimental validation may lead to the realization of a second optimized prototype.
Required skills solidworks sw
Deadline 15/03/2025
PROPONI LA TUA CANDIDATURA