Robot Hand MENG Project — Sami Deiri

Robot Hand

This was a masters project at QMUL in 2019/2020. The goal was to design and build a 3d printed highly dexterous robot hand with tactile sensing.
We won best MENG Project 2020!

1.3 assembly edge.png

1.3front.png

1.6edge.png

1.6front.png

1.7edge.png

1.7front.png

1d fingertip.png

assembly back.png

assembly bottom.png

assembly side.png

BioRob-4-DOF-robot-arm-kinematic-structure-and-table-with-DH-parameters.png

build finger seprate.png

coin sensor graph.png

Complete Assembly.png

crosstalk graph.png

evolution bot.png

evolution diagonal 1.png

evolution diagonal 2.png

evolution diagonal 3.png

evolution idk.png

evolution side.png

evolution top.png

FEMM sims.png

fingertip assembled.png

fingertip old.png

Floor Assembly.PNG

FT Test + Arduino 2.jpg

FT Test 1.jpg

FT Test Coin.jpg

FT Test paper.jpg

full assem front.png

Hand and Wrist Assembly.png

indexgraspingdata (1).png

L1Ring Holes.png

Length Formula.png

LID final.png

mass vs distance graph.png

mass vs distance shapes.png

MFD graph.png

Old Fingertip exploded view.png

Old Fingertip.png

paper comparison graph.png

paper lengths.png

paper sensor graph.png

prototype 2 lid.png

prototype 2.png

rendered fingertip.png

rolling joint.png

sensor setting graph.png

Sensor Test Labelled Exploded.png

shapes comparison graph.png

silicone mould.png

Sketch-of-one-soft-finger-and-D-H-model-a-single-finger-b-structure-diagram-and.png

tip views.png

Top Lid.PNG

Top Motors.PNG

Top View.PNG

D50 T.PNG

D50 U1.PNG

D50 U2.PNG

D50 U3.PNG

DISPLACEMENT 40N XY.PNG

DISPLACEMENT 50N XY.PNG

Project Two