TriFinger Final Assembly

TriFinger

noun - [trai·fing·gr]

A three finger manipulator with 9 degrees of freedom, designed for Autonomous Research & Development capable of performing various tasks within its free workspace.

PROJECT OBJECTIVE

- - -

The plan is to design a robot to be able to hold on and lift a specific object within a given coordinate frame and move it to a different specified location. The main technical driving factors for the redesign include the power output, precision and accuracy of fingertip and object positioning, and ease of operation. As mentioned previously, this design is meant to be more cost effective, easier to procure components and simpler to assemble and manufacture.

-TRIFINGER IN ACTION-

Calibration Sequence

Pick Up Maneuver

BACKGROUND

This project is inspired by the Open Dynamic Robot Initiative's Trifinger Robot. The robot is aimed to be capable of performing many different manipulation tasks within its workspace such as moving around small objects with precision. The objective of this team is to create a three (3) finger, nine (9) Degree of Freedom robot that is cheaper than its predecesor, easier to procure components for, and simple to both manufacture and assemble. The Electrical and Computer Engineering (ECE) department here at UCSD, along with our sponsor, Professor Xiaolong Wang, have the intent of using this robot to teach robotics, machine learning, and artificial intelligence to students.

TriFinger Full CAD Assembly

Cost Efficient

Keep the overall cost

as low as possible

Availability

Utilize easy to access

materials and components

Ease of Manufacture

Manufacturable with

common tools and a 3D printer

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