Laboratory for Intelligent Decision and Autonomous Robots
Laboratory for Intelligent Decision and Autonomous Robots
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I am part of a robotics focused research team within Georgia Tech’s VIP program, working on advanced control and manipulation of robotic hands. As a member of the hardware team, I've designed components for the addition of a 3rd arm to the Digit humanoid, as well as parts to integrate the Allegro hand and Digit.
The Digit robot is shown on the right, and the Allegro hand is shown on the left.
To the left, the 4-DOF third arm is shown. This arm mounts to the Digit humanoid robot, giving it increased mobility and dexterity from the base model. My group was tasked with designing a 5th degree of freedom that mounts to the final stage of this arm. Above are my contributions to the 5-DOF assembly, which includes a ROBSTRIDE 05, a mounting plate, and a 3D printed mount to fasten together the motor, elbow plate, and mounting plate. 4 tensioning bolts are used to tighten the motor down, and the motor sheath fastened to the motor shown on the top right slides over a short aluminum pipe to fix the position of the motor.
The full 5-DOF assembly is shown below. The grippers shown to the left can be fastened to the end of this assembly, allowing for a wrist-like rotation of the grippers for increased dexterity. The 5-DOF arm uses a hex shaft and a long aluminum pipe to conceal wires, as well as a hex shaft collar to mount the modular end effector hub. Slots are also machined in both the long and short aluminum pipes for motor and gripper cables.
These are the finalized designs for several components used to test the Allegro hand on the Digit robot. The parts were designed to accommodate an additional motor in Digit’s arm, adding an extra degree of freedom to its range of motion. The components are interchangeable, allowing either parallel grippers or the Allegro hand to be used as the end effector.
Contact Me
Name: Ethan Lowe
Email: elowe34@gatech.edu
Mobile Phone: 678-458-8211
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