The primary objective of the wrist mechanism is to enable rotational motion of the hand as well as flexion/extension ability. The wrist design also serves as the connection between the functioning hand and the user.
Flexion and extension motions will be caused by forces generated with pneumatic actuator muscles acting in an agonist/antagonist manner, to create a moment about the hinge joint. A lock mechanism is proposed to ensure that the wrist will remain in the desired position during gripping.
Rotational motion of the wrist will be controlled by a pneumatic rotary actuator. The actuator chosen enables 90° of rotation. This range of motion is sufficient for our proof of concept design.
Flexion and extension motions will be caused by forces generated with pneumatic actuator muscles acting in an agonist/antagonist manner, to create a moment about the hinge joint. A lock mechanism is proposed to ensure that the wrist will remain in the desired position during gripping.
Rotational motion of the wrist will be controlled by a pneumatic rotary actuator. The actuator chosen enables 90° of rotation. This range of motion is sufficient for our proof of concept design.