Bachelor's or Master's Thesis: Designing a Robotic Forearm with a Bio-Inspired, Functionally Optimized Actuation System

Robotic systems engineered for teleoperation and shared autonomy are indispensable for executing intricate tasks in challenging environments, such as planetary exploration or satellite maintenance in space. This thesis centers on the design of a robotic fore-arm, a pivotal subsystem within the broader hand-forearm research, building on the German Aerospace Center’s (DLR) extensive experience in developing such systems for space missions.

The project draws inspiration from the human forearm’s functional mechanics, particularly the distinct force outputs of extensor muscles (which straighten the fingers) and flexor muscles (which bend them) and how these are guided through the wrist to control hand motion. These insights will be mirrored in the tailored design of a transmission system that efficiently handles varying force demands. This system will be housed within the forearm, channeling mechanical power through the wrist and into the palm to drive finger and thumb movements. Additionally, the forearm will incorporate power supply and digital electronics to enable precise control and real-time feedback for re-mote or semi-autonomous operation. This research aims to produce a technically advanced, function-driven robotic forearm design that enhances the capabilities of a new hand-forearm systems for space exploration.

Tasks:

• Design a functionally derived placement of transmission elements within the forearm, inspired by extensor and flexor mechanics, to optimize force transfer to the fingers and thumb.
• Develop a concept for placing direct drive actuators in the forearm, ensuring modularity for easy replacement in case of failure.
• Create a concept for wiring and integrating power electronics for the motors, ensuring efficient power delivery and control.
• Prototyping & Testing: Build and test a prototype.

The work is carried out at the German Aerospace Center in Oberpfaffenhofen.

Start:

at the earliest possible date.