Final Project – Octohand
Octohand is a robotic system inspired by the movement and adaptability of octopus tentacles, combined with an articulated robotic arm. The main objective is to develop a flexible end-effector capable of manipulating objects of different shapes, sizes, and fragility, overcoming the limitations of traditional rigid grippers.
Flexible Tentacle (Soft Robotics)
The tentacle is the core component of the project and is based on biomimicry, replicating the adaptive behavior of an octopus tentacle. It is designed to deform smoothly and conform to objects instead of relying on rigid joints.
Possible fabrication options:
- Flexible silicone (Ecoflex / Dragon Skin): enables smooth and continuous motion.
- 3D printed TPU: fast iteration while maintaining flexibility.
- Pneumatic or cable-driven system: controlled bending and organic movement.
Main functions:
- Adapt to irregular surfaces.
- Wrap around objects.
- Enable continuous motion.
Actuation System (Servomotors)
The tentacle actuation is achieved using servomotors controlling internal tendons. This approach is practical, low cost, and repeatable.
- Precise motion control.
- Easy microcontroller integration.
- Controlled bending and gripping force.
Microcontroller and Electronic Control
The system is controlled using Arduino or ESP32, enabling multiple servo outputs and future expansion.
- Reliable control of multiple servos.
- Sensor compatibility.
- Fast prototyping.
- Generate servo signals.
- Execute motion logic.
- Allow future feedback control.