Anthropomorphic Robotic Wrist
Contents
Part 1: project profile
<a name="Project_name"></a>Project name
Anthropomorphic robotic wrist
<a name="Project_short_description"></a>Project short description
The target of this project is adding a 2 dof wrist to an humanoid arm (maximum one) and integrating it in the controller. The movement will be actuated using McKibben muscles.
</p>Advisor: Giuseppina Gini
<a name="Dates"></a>Dates
Start date: 2008/06/01
End date: 2010/12/31
<a name="People_involved"></a>People involved
Gert Petja <a href="/mediawiki/index.php/User:PetjaGert" title="User:PetjaGert">User:PetjaGert</a>
<a name="Project_head.28s.29"></a>Project head(s)
the people who guide the project, and therefore your own work too <p>Gert Petja <a href="/mediawiki/index.php/User:PetjaGert" title="User:PetjaGert">User:PetjaGert</a>
<a name="Students_currently_working_on_the_project"></a>Students currently working on the project
Gert Petja <a href="/mediawiki/index.php/User:PetjaGert" title="User:PetjaGert">User:PetjaGert</a>
the people who guide the project, and therefore your own work too <p>Gert Petja <a href="/mediawiki/index.php/User:PetjaGert" title="User:PetjaGert">User:PetjaGert</a>
Laboratory work and risk analysis
describe here what you actually do or will do in the AIRLab for your project; it is especially important to specify any activity that can lead to potential risks for you or other people and how you will ensure that no one is harmed. A list of potentially dangerous (if not correctly performed) activities is included into the <a href="http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf" class='external text' title="http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf" rel="nofollow">Safety norms</a> of the AIRLab, which you MUST know to work at the AIRLab.
Laboratory work for this project will be mainly performed at AIRLab/Lambrate. It will include significant amounts of mechanical work as well as of electrical and electronic activity. Potentially risky activities are the following:
- Use of mechanical tools. Standard safety measures described in <a href="http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf" class='external text' title="http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf" rel="nofollow">Safety norms</a> will be followed.
- Use of soldering iron. Standard safety measures described in <a href="http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf" class='external text' title="http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf" rel="nofollow">Safety norms</a> will be followed.
- Use of high-voltage circuits. Special gloves and a current limiter will be used.
- Transportation of heavy loads (e.g. robot parts). Standard safety measures described in <a href="http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf" class='external text' title="http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf" rel="nofollow">Safety norms</a> will be followed.
- Robot testing. Standard safety measures described in <a href="http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf" class='external text' title="http://airlab.elet.polimi.it/index.php/airlab/content/download/461/4110/file/documento_valutazione_rischi_AIRLab.pdf" rel="nofollow">Safety norms</a> will be followed.
- Death ray testing: on the robot will be mounted professor Azzoide's death ray projector. When testing it on live animals (e.g. pigeons, pigs, camels) we will make sure that people stay away from the test area.
